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/pci.h>
  43 #include <linux/delay.h>
  44 #include <linux/ctype.h>
  45 #include <linux/jiffies.h>
  46 #include <linux/slab.h>
  47 #include <linux/timer.h>
  48
  49 #include "../comedidev.h"
  50
  51 #include "jr3_pci.h"
  52
  53 #define PCI_VENDOR_ID_JR3 0x1762
  54 #define PCI_DEVICE_ID_JR3_1_CHANNEL 0x3111
  55 #define PCI_DEVICE_ID_JR3_1_CHANNEL_NEW 0x1111
  56 #define PCI_DEVICE_ID_JR3_2_CHANNEL 0x3112
  57 #define PCI_DEVICE_ID_JR3_3_CHANNEL 0x3113
  58 #define PCI_DEVICE_ID_JR3_4_CHANNEL 0x3114
  59
  60 struct jr3_pci_dev_private {
  61         struct jr3_t __iomem *iobase;
  62         int n_channels;
  63         struct timer_list timer;
  64 };
  65
  66 struct poll_delay_t {
  67         int min;
  68         int max;
  69 };
  70
  71 struct jr3_pci_subdev_private {
  72         struct jr3_channel __iomem *channel;
  73         unsigned long next_time_min;
  74         unsigned long next_time_max;
  75         enum { state_jr3_poll,
  76                 state_jr3_init_wait_for_offset,
  77                 state_jr3_init_transform_complete,
  78                 state_jr3_init_set_full_scale_complete,
  79                 state_jr3_init_use_offset_complete,
  80                 state_jr3_done
  81         } state;
  82         int channel_no;
  83         int serial_no;
  84         int model_no;
  85         struct {
  86                 int length;
  87                 struct comedi_krange range;
  88         } range[9];
  89         const struct comedi_lrange *range_table_list[8 * 7 + 2];
  90         unsigned int maxdata_list[8 * 7 + 2];
  91         u16 errors;
  92         int retries;
  93 };
  94
  95 static struct poll_delay_t poll_delay_min_max(int min, int max)
  96 {
  97         struct poll_delay_t result;
  98
  99         result.min = min;
 100         result.max = max;
 101         return result;
 102 }
 103
 104 static int is_complete(struct jr3_channel __iomem *channel)
 105 {
 106         return get_s16(&channel->command_word0) == 0;
 107 }
 108
 109 struct transform_t {
 110         struct {
 111                 u16 link_type;
 112                 s16 link_amount;
 113         } link[8];
 114 };
 115
 116 static void set_transforms(struct jr3_channel __iomem *channel,
 117                            struct transform_t transf, short num)
 118 {
 119         int i;
 120
 121         num &= 0x000f;          /*  Make sure that 0 <= num <= 15 */
 122         for (i = 0; i < 8; i++) {
 123                 set_u16(&channel->transforms[num].link[i].link_type,
 124                         transf.link[i].link_type);
 125                 udelay(1);
 126                 set_s16(&channel->transforms[num].link[i].link_amount,
 127                         transf.link[i].link_amount);
 128                 udelay(1);
 129                 if (transf.link[i].link_type == end_x_form)
 130                         break;
 131         }
 132 }
 133
 134 static void use_transform(struct jr3_channel __iomem *channel,
 135                           short transf_num)
 136 {
 137         set_s16(&channel->command_word0, 0x0500 + (transf_num & 0x000f));
 138 }
 139
 140 static void use_offset(struct jr3_channel __iomem *channel, short offset_num)
 141 {
 142         set_s16(&channel->command_word0, 0x0600 + (offset_num & 0x000f));
 143 }
 144
 145 static void set_offset(struct jr3_channel __iomem *channel)
 146 {
 147         set_s16(&channel->command_word0, 0x0700);
 148 }
 149
 150 struct six_axis_t {
 151         s16 fx;
 152         s16 fy;
 153         s16 fz;
 154         s16 mx;
 155         s16 my;
 156         s16 mz;
 157 };
 158
 159 static void set_full_scales(struct jr3_channel __iomem *channel,
 160                             struct six_axis_t full_scale)
 161 {
 162         set_s16(&channel->full_scale.fx, full_scale.fx);
 163         set_s16(&channel->full_scale.fy, full_scale.fy);
 164         set_s16(&channel->full_scale.fz, full_scale.fz);
 165         set_s16(&channel->full_scale.mx, full_scale.mx);
 166         set_s16(&channel->full_scale.my, full_scale.my);
 167         set_s16(&channel->full_scale.mz, full_scale.mz);
 168         set_s16(&channel->command_word0, 0x0a00);
 169 }
 170
 171 static struct six_axis_t get_min_full_scales(struct jr3_channel __iomem
 172                                              *channel)
 173 {
 174         struct six_axis_t result;
 175         result.fx = get_s16(&channel->min_full_scale.fx);
 176         result.fy = get_s16(&channel->min_full_scale.fy);
 177         result.fz = get_s16(&channel->min_full_scale.fz);
 178         result.mx = get_s16(&channel->min_full_scale.mx);
 179         result.my = get_s16(&channel->min_full_scale.my);
 180         result.mz = get_s16(&channel->min_full_scale.mz);
 181         return result;
 182 }
 183
 184 static struct six_axis_t get_max_full_scales(struct jr3_channel __iomem
 185                                              *channel)
 186 {
 187         struct six_axis_t result;
 188         result.fx = get_s16(&channel->max_full_scale.fx);
 189         result.fy = get_s16(&channel->max_full_scale.fy);
 190         result.fz = get_s16(&channel->max_full_scale.fz);
 191         result.mx = get_s16(&channel->max_full_scale.mx);
 192         result.my = get_s16(&channel->max_full_scale.my);
 193         result.mz = get_s16(&channel->max_full_scale.mz);
 194         return result;
 195 }
 196
 197 static int jr3_pci_ai_insn_read(struct comedi_device *dev,
 198                                 struct comedi_subdevice *s,
 199                                 struct comedi_insn *insn, unsigned int *data)
 200 {
 201         int result;
 202         struct jr3_pci_subdev_private *p;
 203         int channel;
 204
 205         p = s->private;
 206         channel = CR_CHAN(insn->chanspec);
 207         if (p == NULL || channel > 57) {
 208                 result = -EINVAL;
 209         } else {
 210                 int i;
 211
 212                 result = insn->n;
 213                 if (p->state != state_jr3_done ||
 214                     (get_u16(&p->channel->errors) & (watch_dog | watch_dog2 |
 215                                                      sensor_change))) {
 216                         /* No sensor or sensor changed */
 217                         if (p->state == state_jr3_done) {
 218                                 /* Restart polling */
 219                                 p->state = state_jr3_poll;
 220                         }
 221                         result = -EAGAIN;
 222                 }
 223                 for (i = 0; i < insn->n; i++) {
 224                         if (channel < 56) {
 225                                 int axis, filter;
 226
 227                                 axis = channel % 8;
 228                                 filter = channel / 8;
 229                                 if (p->state != state_jr3_done) {
 230                                         data[i] = 0;
 231                                 } else {
 232                                         int F = 0;
 233                                         switch (axis) {
 234                                         case 0:
 235                                                 F = get_s16(&p->channel->
 236                                                             filter[filter].fx);
 237                                                 break;
 238                                         case 1:
 239                                                 F = get_s16(&p->channel->
 240                                                             filter[filter].fy);
 241                                                 break;
 242                                         case 2:
 243                                                 F = get_s16(&p->channel->
 244                                                             filter[filter].fz);
 245                                                 break;
 246                                         case 3:
 247                                                 F = get_s16(&p->channel->
 248                                                             filter[filter].mx);
 249                                                 break;
 250                                         case 4:
 251                                                 F = get_s16(&p->channel->
 252                                                             filter[filter].my);
 253                                                 break;
 254                                         case 5:
 255                                                 F = get_s16(&p->channel->
 256                                                             filter[filter].mz);
 257                                                 break;
 258                                         case 6:
 259                                                 F = get_s16(&p->channel->
 260                                                             filter[filter].v1);
 261                                                 break;
 262                                         case 7:
 263                                                 F = get_s16(&p->channel->
 264                                                             filter[filter].v2);
 265                                                 break;
 266                                         }
 267                                         data[i] = F + 0x4000;
 268                                 }
 269                         } else if (channel == 56) {
 270                                 if (p->state != state_jr3_done)
 271                                         data[i] = 0;
 272                                 else
 273                                         data[i] =
 274                                         get_u16(&p->channel->model_no);
 275                         } else if (channel == 57) {
 276                                 if (p->state != state_jr3_done)
 277                                         data[i] = 0;
 278                                 else
 279                                         data[i] =
 280                                         get_u16(&p->channel->serial_no);
 281                         }
 282                 }
 283         }
 284         return result;
 285 }
 286
 287 static int jr3_pci_open(struct comedi_device *dev)
 288 {
 289         int i;
 290         struct jr3_pci_dev_private *devpriv = dev->private;
 291
 292         dev_dbg(dev->class_dev, "jr3_pci_open\n");
 293         for (i = 0; i < devpriv->n_channels; i++) {
 294                 struct jr3_pci_subdev_private *p;
 295
 296                 p = dev->subdevices[i].private;
 297                 if (p) {
 298                         dev_dbg(dev->class_dev, "serial: %p %d (%d)\n", p,
 299                                 p->serial_no, p->channel_no);
 300                 }
 301         }
 302         return 0;
 303 }
 304
 305 static int read_idm_word(const u8 *data, size_t size, int *pos,
 306                          unsigned int *val)
 307 {
 308         int result = 0;
 309         if (pos && val) {
 310                 /*  Skip over non hex */
 311                 for (; *pos < size && !isxdigit(data[*pos]); (*pos)++)
 312                         ;
 313                 /*  Collect value */
 314                 *val = 0;
 315                 for (; *pos < size; (*pos)++) {
 316                         int value;
 317                         value = hex_to_bin(data[*pos]);
 318                         if (value >= 0) {
 319                                 result = 1;
 320                                 *val = (*val << 4) + value;
 321                         } else {
 322                                 break;
 323                         }
 324                 }
 325         }
 326         return result;
 327 }
 328
 329 static int jr3_download_firmware(struct comedi_device *dev,
 330                                  const u8 *data, size_t size,
 331                                  unsigned long context)
 332 {
 333         /*
 334          * IDM file format is:
 335          *   { count, address, data <count> } *
 336          *   ffff
 337          */
 338         int result, more, pos, OK;
 339
 340         result = 0;
 341         more = 1;
 342         pos = 0;
 343         OK = 0;
 344         while (more) {
 345                 unsigned int count, addr;
 346
 347                 more = more && read_idm_word(data, size, &pos, &count);
 348                 if (more && count == 0xffff) {
 349                         OK = 1;
 350                         break;
 351                 }
 352                 more = more && read_idm_word(data, size, &pos, &addr);
 353                 while (more && count > 0) {
 354                         unsigned int dummy;
 355                         more = more && read_idm_word(data, size, &pos, &dummy);
 356                         count--;
 357                 }
 358         }
 359
 360         if (!OK) {
 361                 result = -ENODATA;
 362         } else {
 363                 int i;
 364                 struct jr3_pci_dev_private *p = dev->private;
 365
 366                 for (i = 0; i < p->n_channels; i++) {
 367                         struct jr3_pci_subdev_private *sp;
 368
 369                         sp = dev->subdevices[i].private;
 370                         more = 1;
 371                         pos = 0;
 372                         while (more) {
 373                                 unsigned int count, addr;
 374                                 more = more &&
 375                                        read_idm_word(data, size, &pos, &count);
 376                                 if (more && count == 0xffff)
 377                                         break;
 378                                 more = more &&
 379                                        read_idm_word(data, size, &pos, &addr);
 380                                 dev_dbg(dev->class_dev,
 381                                         "Loading#%d %4.4x bytes at %4.4x\n",
 382                                         i, count, addr);
 383                                 while (more && count > 0) {
 384                                         if (addr & 0x4000) {
 385                                                 /*  16 bit data, never seen
 386                                                  *  in real life!! */
 387                                                 unsigned int data1;
 388
 389                                                 more = more &&
 390                                                        read_idm_word(data,
 391                                                                      size, &pos,
 392                                                                      &data1);
 393                                                 count--;
 394                                                 /* jr3[addr + 0x20000 * pnum] =
 395                                                    data1; */
 396                                         } else {
 397                                                 /*   Download 24 bit program */
 398                                                 unsigned int data1, data2;
 399
 400                                                 more = more &&
 401                                                        read_idm_word(data,
 402                                                                      size, &pos,
 403                                                                      &data1);
 404                                                 more = more &&
 405                                                        read_idm_word(data, size,
 406                                                                      &pos,
 407                                                                      &data2);
 408                                                 count -= 2;
 409                                                 if (more) {
 410                                                         set_u16(&p->
 411                                                                 iobase->channel
 412                                                                 [i].program_low
 413                                                                 [addr], data1);
 414                                                         udelay(1);
 415                                                         set_u16(&p->
 416                                                                 iobase->channel
 417                                                                 [i].program_high
 418                                                                 [addr], data2);
 419                                                         udelay(1);
 420                                                 }
 421                                         }
 422                                         addr++;
 423                                 }
 424                         }
 425                 }
 426         }
 427         return result;
 428 }
 429
 430 static struct poll_delay_t jr3_pci_poll_subdevice(struct comedi_subdevice *s)
 431 {
 432         struct poll_delay_t result = poll_delay_min_max(1000, 2000);
 433         struct jr3_pci_subdev_private *p = s->private;
 434         int i;
 435
 436         if (p) {
 437                 struct jr3_channel __iomem *channel = p->channel;
 438                 int errors = get_u16(&channel->errors);
 439
 440                 if (errors != p->errors)
 441                         p->errors = errors;
 442
 443                 if (errors & (watch_dog | watch_dog2 | sensor_change))
 444                         /*  Sensor communication lost, force poll mode */
 445                         p->state = state_jr3_poll;
 446
 447                 switch (p->state) {
 448                 case state_jr3_poll: {
 449                                 u16 model_no = get_u16(&channel->model_no);
 450                                 u16 serial_no = get_u16(&channel->serial_no);
 451                                 if ((errors & (watch_dog | watch_dog2)) ||
 452                                     model_no == 0 || serial_no == 0) {
 453                                         /*
 454                                          * Still no sensor, keep on polling.
 455                                          * Since it takes up to 10 seconds
 456                                          * for offsets to stabilize, polling
 457                                          * each second should suffice.
 458                                          */
 459                                         result = poll_delay_min_max(1000, 2000);
 460                                 } else {
 461                                         p->retries = 0;
 462                                         p->state =
 463                                                 state_jr3_init_wait_for_offset;
 464                                         result = poll_delay_min_max(1000, 2000);
 465                                 }
 466                         }
 467                         break;
 468                 case state_jr3_init_wait_for_offset:
 469                         p->retries++;
 470                         if (p->retries < 10) {
 471                                 /*  Wait for offeset to stabilize
 472                                  *  (< 10 s according to manual) */
 473                                 result = poll_delay_min_max(1000, 2000);
 474                         } else {
 475                                 struct transform_t transf;
 476
 477                                 p->model_no = get_u16(&channel->model_no);
 478                                 p->serial_no = get_u16(&channel->serial_no);
 479
 480                                 /*  Transformation all zeros */
 481                                 for (i = 0; i < ARRAY_SIZE(transf.link); i++) {
 482                                         transf.link[i].link_type =
 483                                                 (enum link_types)0;
 484                                         transf.link[i].link_amount = 0;
 485                                 }
 486
 487                                 set_transforms(channel, transf, 0);
 488                                 use_transform(channel, 0);
 489                                 p->state = state_jr3_init_transform_complete;
 490                                 /*  Allow 20 ms for completion */
 491                                 result = poll_delay_min_max(20, 100);
 492                         }
 493                         break;
 494                 case state_jr3_init_transform_complete:
 495                         if (!is_complete(channel)) {
 496                                 result = poll_delay_min_max(20, 100);
 497                         } else {
 498                                 /*  Set full scale */
 499                                 struct six_axis_t min_full_scale;
 500                                 struct six_axis_t max_full_scale;
 501
 502                                 min_full_scale = get_min_full_scales(channel);
 503                                 max_full_scale = get_max_full_scales(channel);
 504                                 set_full_scales(channel, max_full_scale);
 505
 506                                 p->state =
 507                                         state_jr3_init_set_full_scale_complete;
 508                                 /*  Allow 20 ms for completion */
 509                                 result = poll_delay_min_max(20, 100);
 510                         }
 511                         break;
 512                 case state_jr3_init_set_full_scale_complete:
 513                         if (!is_complete(channel)) {
 514                                 result = poll_delay_min_max(20, 100);
 515                         } else {
 516                                 struct force_array __iomem *full_scale;
 517
 518                                 /*  Use ranges in kN or we will
 519                                  *  overflow around 2000N! */
 520                                 full_scale = &channel->full_scale;
 521                                 p->range[0].range.min =
 522                                         -get_s16(&full_scale->fx) * 1000;
 523                                 p->range[0].range.max =
 524                                         get_s16(&full_scale->fx) * 1000;
 525                                 p->range[1].range.min =
 526                                         -get_s16(&full_scale->fy) * 1000;
 527                                 p->range[1].range.max =
 528                                         get_s16(&full_scale->fy) * 1000;
 529                                 p->range[2].range.min =
 530                                         -get_s16(&full_scale->fz) * 1000;
 531                                 p->range[2].range.max =
 532                                         get_s16(&full_scale->fz) * 1000;
 533                                 p->range[3].range.min =
 534                                         -get_s16(&full_scale->mx) * 100;
 535                                 p->range[3].range.max =
 536                                         get_s16(&full_scale->mx) * 100;
 537                                 p->range[4].range.min =
 538                                         -get_s16(&full_scale->my) * 100;
 539                                 p->range[4].range.max =
 540                                         get_s16(&full_scale->my) * 100;
 541                                 p->range[5].range.min =
 542                                         -get_s16(&full_scale->mz) * 100;
 543                                 p->range[5].range.max =
 544                                         get_s16(&full_scale->mz) * 100; /* ?? */
 545                                 p->range[6].range.min =
 546                                         -get_s16(&full_scale->v1) * 100;/* ?? */
 547                                 p->range[6].range.max =
 548                                         get_s16(&full_scale->v1) * 100; /* ?? */
 549                                 p->range[7].range.min =
 550                                         -get_s16(&full_scale->v2) * 100;/* ?? */
 551                                 p->range[7].range.max =
 552                                         get_s16(&full_scale->v2) * 100; /* ?? */
 553                                 p->range[8].range.min = 0;
 554                                 p->range[8].range.max = 65535;
 555
 556                                 use_offset(channel, 0);
 557                                 p->state = state_jr3_init_use_offset_complete;
 558                                 /*  Allow 40 ms for completion */
 559                                 result = poll_delay_min_max(40, 100);
 560                         }
 561                         break;
 562                 case state_jr3_init_use_offset_complete:
 563                         if (!is_complete(channel)) {
 564                                 result = poll_delay_min_max(20, 100);
 565                         } else {
 566                                 set_s16(&channel->offsets.fx, 0);
 567                                 set_s16(&channel->offsets.fy, 0);
 568                                 set_s16(&channel->offsets.fz, 0);
 569                                 set_s16(&channel->offsets.mx, 0);
 570                                 set_s16(&channel->offsets.my, 0);
 571                                 set_s16(&channel->offsets.mz, 0);
 572
 573                                 set_offset(channel);
 574
 575                                 p->state = state_jr3_done;
 576                         }
 577                         break;
 578                 case state_jr3_done:
 579                         poll_delay_min_max(10000, 20000);
 580                         break;
 581                 default:
 582                         poll_delay_min_max(1000, 2000);
 583                         break;
 584                 }
 585         }
 586         return result;
 587 }
 588
 589 static void jr3_pci_poll_dev(unsigned long data)
 590 {
 591         unsigned long flags;
 592         struct comedi_device *dev = (struct comedi_device *)data;
 593         struct jr3_pci_dev_private *devpriv = dev->private;
 594         unsigned long now;
 595         int delay;
 596         int i;
 597
 598         spin_lock_irqsave(&dev->spinlock, flags);
 599         delay = 1000;
 600         now = jiffies;
 601         /*  Poll all channels that are ready to be polled */
 602         for (i = 0; i < devpriv->n_channels; i++) {
 603                 struct jr3_pci_subdev_private *subdevpriv =
 604                         dev->subdevices[i].private;
 605                 if (now > subdevpriv->next_time_min) {
 606                         struct poll_delay_t sub_delay;
 607
 608                         sub_delay = jr3_pci_poll_subdevice(&dev->subdevices[i]);
 609                         subdevpriv->next_time_min =
 610                                 jiffies + msecs_to_jiffies(sub_delay.min);
 611                         subdevpriv->next_time_max =
 612                                 jiffies + msecs_to_jiffies(sub_delay.max);
 613                         if (sub_delay.max && sub_delay.max < delay)
 614                                 /*
 615                                  * Wake up as late as possible ->
 616                                  * poll as many channels as possible at once.
 617                                  */
 618                                 delay = sub_delay.max;
 619                 }
 620         }
 621         spin_unlock_irqrestore(&dev->spinlock, flags);
 622
 623         devpriv->timer.expires = jiffies + msecs_to_jiffies(delay);
 624         add_timer(&devpriv->timer);
 625 }
 626
 627 static int jr3_pci_auto_attach(struct comedi_device *dev,
 628                                          unsigned long context_unused)
 629 {
 630         int result;
 631         struct pci_dev *pcidev = comedi_to_pci_dev(dev);
 632         int i;
 633         struct jr3_pci_dev_private *devpriv;
 634
 635         if (sizeof(struct jr3_channel) != 0xc00) {
 636                 dev_err(dev->class_dev,
 637                         "sizeof(struct jr3_channel) = %x [expected %x]\n",
 638                         (unsigned)sizeof(struct jr3_channel), 0xc00);
 639                 return -EINVAL;
 640         }
 641
 642         devpriv = comedi_alloc_devpriv(dev, sizeof(*devpriv));
 643         if (!devpriv)
 644                 return -ENOMEM;
 645
 646         init_timer(&devpriv->timer);
 647         switch (pcidev->device) {
 648         case PCI_DEVICE_ID_JR3_1_CHANNEL:
 649         case PCI_DEVICE_ID_JR3_1_CHANNEL_NEW:
 650                 devpriv->n_channels = 1;
 651                 break;
 652         case PCI_DEVICE_ID_JR3_2_CHANNEL:
 653                 devpriv->n_channels = 2;
 654                 break;
 655         case PCI_DEVICE_ID_JR3_3_CHANNEL:
 656                 devpriv->n_channels = 3;
 657                 break;
 658         case PCI_DEVICE_ID_JR3_4_CHANNEL:
 659                 devpriv->n_channels = 4;
 660                 break;
 661         default:
 662                 dev_err(dev->class_dev, "jr3_pci: pci %s not supported\n",
 663                         pci_name(pcidev));
 664                 return -EINVAL;
 665                 break;
 666         }
 667
 668         result = comedi_pci_enable(dev);
 669         if (result)
 670                 return result;
 671
 672         devpriv->iobase = pci_ioremap_bar(pcidev, 0);
 673         if (!devpriv->iobase)
 674                 return -ENOMEM;
 675
 676         result = comedi_alloc_subdevices(dev, devpriv->n_channels);
 677         if (result)
 678                 return result;
 679
 680         dev->open = jr3_pci_open;
 681         for (i = 0; i < devpriv->n_channels; i++) {
 682                 dev->subdevices[i].type = COMEDI_SUBD_AI;
 683                 dev->subdevices[i].subdev_flags = SDF_READABLE | SDF_GROUND;
 684                 dev->subdevices[i].n_chan = 8 * 7 + 2;
 685                 dev->subdevices[i].insn_read = jr3_pci_ai_insn_read;
 686                 dev->subdevices[i].private =
 687                         kzalloc(sizeof(struct jr3_pci_subdev_private),
 688                                 GFP_KERNEL);
 689                 if (dev->subdevices[i].private) {
 690                         struct jr3_pci_subdev_private *p;
 691                         int j;
 692
 693                         p = dev->subdevices[i].private;
 694                         p->channel = &devpriv->iobase->channel[i].data;
 695                         dev_dbg(dev->class_dev, "p->channel %p %p (%tx)\n",
 696                                 p->channel, devpriv->iobase,
 697                                 ((char __iomem *)p->channel -
 698                                  (char __iomem *)devpriv->iobase));
 699                         p->channel_no = i;
 700                         for (j = 0; j < 8; j++) {
 701                                 int k;
 702
 703                                 p->range[j].length = 1;
 704                                 p->range[j].range.min = -1000000;
 705                                 p->range[j].range.max = 1000000;
 706                                 for (k = 0; k < 7; k++) {
 707                                         p->range_table_list[j + k * 8] =
 708                                             (struct comedi_lrange *)&p->
 709                                             range[j];
 710                                         p->maxdata_list[j + k * 8] = 0x7fff;
 711                                 }
 712                         }
 713                         p->range[8].length = 1;
 714                         p->range[8].range.min = 0;
 715                         p->range[8].range.max = 65536;
 716
 717                         p->range_table_list[56] =
 718                                 (struct comedi_lrange *)&p->range[8];
 719                         p->range_table_list[57] =
 720                                 (struct comedi_lrange *)&p->range[8];
 721                         p->maxdata_list[56] = 0xffff;
 722                         p->maxdata_list[57] = 0xffff;
 723                         /*  Channel specific range and maxdata */
 724                         dev->subdevices[i].range_table = NULL;
 725                         dev->subdevices[i].range_table_list =
 726                                 p->range_table_list;
 727                         dev->subdevices[i].maxdata = 0;
 728                         dev->subdevices[i].maxdata_list = p->maxdata_list;
 729                 }
 730         }
 731
 732         /*  Reset DSP card */
 733         writel(0, &devpriv->iobase->channel[0].reset);
 734
 735         result = comedi_load_firmware(dev, &comedi_to_pci_dev(dev)->dev,
 736                                       "comedi/jr3pci.idm",
 737                                       jr3_download_firmware, 0);
 738         dev_dbg(dev->class_dev, "Firmare load %d\n", result);
 739
 740         if (result < 0)
 741                 return result;
 742         /*
 743          * TODO: use firmware to load preferred offset tables. Suggested
 744          * format:
 745          *     model serial Fx Fy Fz Mx My Mz\n
 746          *
 747          *     comedi_load_firmware(dev, &comedi_to_pci_dev(dev)->dev,
 748          *                          "comedi/jr3_offsets_table",
 749          *                          jr3_download_firmware, 1);
 750          */
 751
 752         /*
 753          * It takes a few milliseconds for software to settle as much as we
 754          * can read firmware version
 755          */
 756         msleep_interruptible(25);
 757         for (i = 0; i < 0x18; i++) {
 758                 dev_dbg(dev->class_dev, "%c\n",
 759                         get_u16(&devpriv->iobase->channel[0].
 760                                 data.copyright[i]) >> 8);
 761         }
 762
 763         /*  Start card timer */
 764         for (i = 0; i < devpriv->n_channels; i++) {
 765                 struct jr3_pci_subdev_private *p = dev->subdevices[i].private;
 766
 767                 p->next_time_min = jiffies + msecs_to_jiffies(500);
 768                 p->next_time_max = jiffies + msecs_to_jiffies(2000);
 769         }
 770
 771         devpriv->timer.data = (unsigned long)dev;
 772         devpriv->timer.function = jr3_pci_poll_dev;
 773         devpriv->timer.expires = jiffies + msecs_to_jiffies(1000);
 774         add_timer(&devpriv->timer);
 775
 776         return result;
 777 }
 778
 779 static void jr3_pci_detach(struct comedi_device *dev)
 780 {
 781         int i;
 782         struct jr3_pci_dev_private *devpriv = dev->private;
 783
 784         if (devpriv) {
 785                 del_timer_sync(&devpriv->timer);
 786
 787                 if (dev->subdevices) {
 788                         for (i = 0; i < devpriv->n_channels; i++)
 789                                 kfree(dev->subdevices[i].private);
 790                 }
 791                 if (devpriv->iobase)
 792                         iounmap(devpriv->iobase);
 793         }
 794         comedi_pci_disable(dev);
 795 }
 796
 797 static struct comedi_driver jr3_pci_driver = {
 798         .driver_name    = "jr3_pci",
 799         .module         = THIS_MODULE,
 800         .auto_attach    = jr3_pci_auto_attach,
 801         .detach         = jr3_pci_detach,
 802 };
 803
 804 static int jr3_pci_pci_probe(struct pci_dev *dev,
 805                              const struct pci_device_id *id)
 806 {
 807         return comedi_pci_auto_config(dev, &jr3_pci_driver, id->driver_data);
 808 }
 809
 810 static DEFINE_PCI_DEVICE_TABLE(jr3_pci_pci_table) = {
 811         { PCI_DEVICE(PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_1_CHANNEL) },
 812         { PCI_DEVICE(PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_1_CHANNEL_NEW) },
 813         { PCI_DEVICE(PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_2_CHANNEL) },
 814         { PCI_DEVICE(PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_3_CHANNEL) },
 815         { PCI_DEVICE(PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_4_CHANNEL) },
 816         { 0 }
 817 };
 818 MODULE_DEVICE_TABLE(pci, jr3_pci_pci_table);
 819
 820 static struct pci_driver jr3_pci_pci_driver = {
 821         .name           = "jr3_pci",
 822         .id_table       = jr3_pci_pci_table,
 823         .probe          = jr3_pci_pci_probe,
 824         .remove         = comedi_pci_auto_unconfig,
 825 };
 826 module_comedi_pci_driver(jr3_pci_driver, jr3_pci_pci_driver);
 827
 828 MODULE_AUTHOR("Comedi http://www.comedi.org");
 829 MODULE_DESCRIPTION("Comedi low-level driver");
 830 MODULE_LICENSE("GPL");
 831 MODULE_FIRMWARE("comedi/jr3pci.idm");