Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 1 | /* |
Ravishankar Karkala Mallikarjunayya | fb999e7 | 2016-06-06 16:31:17 +0530 | [diff] [blame] | 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 | */ |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 18 | /* |
Ian Abbott | 10ba619 | 2012-11-01 18:34:40 +0000 | [diff] [blame] | 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 | */ |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 39 | |
H Hartley Sweeten | 33782dd | 2013-01-30 15:22:21 -0700 | [diff] [blame] | 40 | #include <linux/kernel.h> |
H Hartley Sweeten | ce157f8 | 2013-06-24 17:04:43 -0700 | [diff] [blame] | 41 | #include <linux/module.h> |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 42 | #include <linux/delay.h> |
| 43 | #include <linux/ctype.h> |
Alexander Beregalov | 9b5de0a | 2009-06-20 03:52:47 +0400 | [diff] [blame] | 44 | #include <linux/jiffies.h> |
Tejun Heo | 5a0e3ad | 2010-03-24 17:04:11 +0900 | [diff] [blame] | 45 | #include <linux/slab.h> |
Alexander Beregalov | 9b5de0a | 2009-06-20 03:52:47 +0400 | [diff] [blame] | 46 | #include <linux/timer.h> |
H Hartley Sweeten | 33782dd | 2013-01-30 15:22:21 -0700 | [diff] [blame] | 47 | |
Ian Abbott | e4c296d | 2015-03-10 16:10:59 +0000 | [diff] [blame] | 48 | #include "../comedi_pci.h" |
H Hartley Sweeten | 33782dd | 2013-01-30 15:22:21 -0700 | [diff] [blame] | 49 | |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 50 | #include "jr3_pci.h" |
| 51 | |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 52 | #define PCI_VENDOR_ID_JR3 0x1762 |
H Hartley Sweeten | 7211806 | 2014-03-11 10:03:31 -0700 | [diff] [blame] | 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 | }; |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 84 | |
H Hartley Sweeten | 0a44493 | 2014-03-07 13:41:06 -0700 | [diff] [blame] | 85 | struct jr3_pci_transform { |
| 86 | struct { |
| 87 | u16 link_type; |
| 88 | s16 link_amount; |
| 89 | } link[8]; |
| 90 | }; |
| 91 | |
H Hartley Sweeten | da1331a | 2014-03-07 13:41:07 -0700 | [diff] [blame] | 92 | struct jr3_pci_poll_delay { |
| 93 | int min; |
| 94 | int max; |
| 95 | }; |
| 96 | |
Bill Pemberton | 217fbbb | 2009-03-16 22:15:24 -0400 | [diff] [blame] | 97 | struct jr3_pci_dev_private { |
Ian Abbott | 95b2468 | 2012-10-15 12:20:00 +0100 | [diff] [blame] | 98 | struct jr3_t __iomem *iobase; |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 99 | struct timer_list timer; |
Bill Pemberton | 217fbbb | 2009-03-16 22:15:24 -0400 | [diff] [blame] | 100 | }; |
| 101 | |
Bill Pemberton | c6a3b7b | 2009-03-16 22:20:25 -0400 | [diff] [blame] | 102 | struct jr3_pci_subdev_private { |
Ian Abbott | 95b2468 | 2012-10-15 12:20:00 +0100 | [diff] [blame] | 103 | struct jr3_channel __iomem *channel; |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 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; |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 113 | int serial_no; |
| 114 | int model_no; |
| 115 | struct { |
| 116 | int length; |
Bill Pemberton | 1f6325d | 2009-03-16 22:06:31 -0400 | [diff] [blame] | 117 | struct comedi_krange range; |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 118 | } range[9]; |
Bill Pemberton | 9ced1de | 2009-03-16 22:05:31 -0400 | [diff] [blame] | 119 | const struct comedi_lrange *range_table_list[8 * 7 + 2]; |
Bill Pemberton | 790c554 | 2009-03-16 22:05:02 -0400 | [diff] [blame] | 120 | unsigned int maxdata_list[8 * 7 + 2]; |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 121 | u16 errors; |
| 122 | int retries; |
Bill Pemberton | c6a3b7b | 2009-03-16 22:20:25 -0400 | [diff] [blame] | 123 | }; |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 124 | |
H Hartley Sweeten | da1331a | 2014-03-07 13:41:07 -0700 | [diff] [blame] | 125 | static struct jr3_pci_poll_delay poll_delay_min_max(int min, int max) |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 126 | { |
H Hartley Sweeten | da1331a | 2014-03-07 13:41:07 -0700 | [diff] [blame] | 127 | struct jr3_pci_poll_delay result; |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 128 | |
| 129 | result.min = min; |
| 130 | result.max = max; |
| 131 | return result; |
| 132 | } |
| 133 | |
Ian Abbott | 95b2468 | 2012-10-15 12:20:00 +0100 | [diff] [blame] | 134 | static int is_complete(struct jr3_channel __iomem *channel) |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 135 | { |
| 136 | return get_s16(&channel->command_word0) == 0; |
| 137 | } |
| 138 | |
Ian Abbott | 95b2468 | 2012-10-15 12:20:00 +0100 | [diff] [blame] | 139 | static void set_transforms(struct jr3_channel __iomem *channel, |
H Hartley Sweeten | 0a44493 | 2014-03-07 13:41:06 -0700 | [diff] [blame] | 140 | struct jr3_pci_transform transf, short num) |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 141 | { |
| 142 | int i; |
| 143 | |
Bill Pemberton | 2696fb5 | 2009-03-27 11:29:34 -0400 | [diff] [blame] | 144 | num &= 0x000f; /* Make sure that 0 <= num <= 15 */ |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 145 | for (i = 0; i < 8; i++) { |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 146 | set_u16(&channel->transforms[num].link[i].link_type, |
| 147 | transf.link[i].link_type); |
Greg Kroah-Hartman | 5f74ea1 | 2009-04-27 14:44:31 -0700 | [diff] [blame] | 148 | udelay(1); |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 149 | set_s16(&channel->transforms[num].link[i].link_amount, |
| 150 | transf.link[i].link_amount); |
Greg Kroah-Hartman | 5f74ea1 | 2009-04-27 14:44:31 -0700 | [diff] [blame] | 151 | udelay(1); |
Stephane Pajot | c77049e | 2011-05-09 15:51:59 +0200 | [diff] [blame] | 152 | if (transf.link[i].link_type == end_x_form) |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 153 | break; |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 154 | } |
| 155 | } |
| 156 | |
Ian Abbott | 95b2468 | 2012-10-15 12:20:00 +0100 | [diff] [blame] | 157 | static void use_transform(struct jr3_channel __iomem *channel, |
Mithlesh Thukral | 0a85b6f | 2009-06-08 21:04:41 +0530 | [diff] [blame] | 158 | short transf_num) |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 159 | { |
| 160 | set_s16(&channel->command_word0, 0x0500 + (transf_num & 0x000f)); |
| 161 | } |
| 162 | |
Ian Abbott | 95b2468 | 2012-10-15 12:20:00 +0100 | [diff] [blame] | 163 | static void use_offset(struct jr3_channel __iomem *channel, short offset_num) |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 164 | { |
| 165 | set_s16(&channel->command_word0, 0x0600 + (offset_num & 0x000f)); |
| 166 | } |
| 167 | |
Ian Abbott | 95b2468 | 2012-10-15 12:20:00 +0100 | [diff] [blame] | 168 | static void set_offset(struct jr3_channel __iomem *channel) |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 169 | { |
| 170 | set_s16(&channel->command_word0, 0x0700); |
| 171 | } |
| 172 | |
Bill Pemberton | 050509f | 2009-03-16 22:20:57 -0400 | [diff] [blame] | 173 | struct six_axis_t { |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 174 | s16 fx; |
| 175 | s16 fy; |
| 176 | s16 fz; |
| 177 | s16 mx; |
| 178 | s16 my; |
| 179 | s16 mz; |
Bill Pemberton | 050509f | 2009-03-16 22:20:57 -0400 | [diff] [blame] | 180 | }; |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 181 | |
Ian Abbott | 95b2468 | 2012-10-15 12:20:00 +0100 | [diff] [blame] | 182 | static void set_full_scales(struct jr3_channel __iomem *channel, |
Mithlesh Thukral | 0a85b6f | 2009-06-08 21:04:41 +0530 | [diff] [blame] | 183 | struct six_axis_t full_scale) |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 184 | { |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 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 | |
Ian Abbott | 95b2468 | 2012-10-15 12:20:00 +0100 | [diff] [blame] | 194 | static struct six_axis_t get_min_full_scales(struct jr3_channel __iomem |
Mithlesh Thukral | 0a85b6f | 2009-06-08 21:04:41 +0530 | [diff] [blame] | 195 | *channel) |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 196 | { |
Bill Pemberton | 050509f | 2009-03-16 22:20:57 -0400 | [diff] [blame] | 197 | struct six_axis_t result; |
H Hartley Sweeten | cd9da61 | 2014-07-16 11:01:59 -0700 | [diff] [blame] | 198 | |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 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 | |
Ian Abbott | 95b2468 | 2012-10-15 12:20:00 +0100 | [diff] [blame] | 208 | static struct six_axis_t get_max_full_scales(struct jr3_channel __iomem |
Mithlesh Thukral | 0a85b6f | 2009-06-08 21:04:41 +0530 | [diff] [blame] | 209 | *channel) |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 210 | { |
Bill Pemberton | 050509f | 2009-03-16 22:20:57 -0400 | [diff] [blame] | 211 | struct six_axis_t result; |
H Hartley Sweeten | cd9da61 | 2014-07-16 11:01:59 -0700 | [diff] [blame] | 212 | |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 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 | |
H Hartley Sweeten | 16a86ab | 2014-03-07 13:41:03 -0700 | [diff] [blame] | 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; |
Ravishankar Karkala Mallikarjunayya | 5efe115 | 2016-06-06 16:31:23 +0530 | [diff] [blame] | 234 | unsigned int filter = chan / 8; |
H Hartley Sweeten | 16a86ab | 2014-03-07 13:41:03 -0700 | [diff] [blame] | 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 | |
Mithlesh Thukral | 0a85b6f | 2009-06-08 21:04:41 +0530 | [diff] [blame] | 272 | static int jr3_pci_ai_insn_read(struct comedi_device *dev, |
| 273 | struct comedi_subdevice *s, |
H Hartley Sweeten | 16a86ab | 2014-03-07 13:41:03 -0700 | [diff] [blame] | 274 | struct comedi_insn *insn, |
| 275 | unsigned int *data) |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 276 | { |
H Hartley Sweeten | 16a86ab | 2014-03-07 13:41:03 -0700 | [diff] [blame] | 277 | struct jr3_pci_subdev_private *spriv = s->private; |
| 278 | unsigned int chan = CR_CHAN(insn->chanspec); |
| 279 | u16 errors; |
| 280 | int i; |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 281 | |
H Hartley Sweeten | 16a86ab | 2014-03-07 13:41:03 -0700 | [diff] [blame] | 282 | if (!spriv) |
| 283 | return -EINVAL; |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 284 | |
H Hartley Sweeten | 16a86ab | 2014-03-07 13:41:03 -0700 | [diff] [blame] | 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; |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 292 | } |
H Hartley Sweeten | 16a86ab | 2014-03-07 13:41:03 -0700 | [diff] [blame] | 293 | return -EAGAIN; |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 294 | } |
H Hartley Sweeten | 16a86ab | 2014-03-07 13:41:03 -0700 | [diff] [blame] | 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; |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 300 | } |
| 301 | |
Ian Abbott | 3c17ba07 | 2010-05-19 14:10:00 +0100 | [diff] [blame] | 302 | static int jr3_pci_open(struct comedi_device *dev) |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 303 | { |
H Hartley Sweeten | 617cd65 | 2014-03-07 13:41:02 -0700 | [diff] [blame] | 304 | struct jr3_pci_subdev_private *spriv; |
| 305 | struct comedi_subdevice *s; |
| 306 | int i; |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 307 | |
Ian Abbott | f41ad66 | 2012-06-18 14:05:34 +0100 | [diff] [blame] | 308 | dev_dbg(dev->class_dev, "jr3_pci_open\n"); |
H Hartley Sweeten | ed8cd56 | 2014-03-07 13:41:05 -0700 | [diff] [blame] | 309 | for (i = 0; i < dev->n_subdevices; i++) { |
H Hartley Sweeten | 617cd65 | 2014-03-07 13:41:02 -0700 | [diff] [blame] | 310 | s = &dev->subdevices[i]; |
| 311 | spriv = s->private; |
| 312 | if (spriv) |
| 313 | dev_dbg(dev->class_dev, "serial: %p %d (%d)\n", |
H Hartley Sweeten | d6ae506 | 2014-03-07 13:41:08 -0700 | [diff] [blame] | 314 | spriv, spriv->serial_no, s->index); |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 315 | } |
Ian Abbott | 3c17ba07 | 2010-05-19 14:10:00 +0100 | [diff] [blame] | 316 | return 0; |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 317 | } |
| 318 | |
H Hartley Sweeten | 2ca9bc2 | 2012-09-17 13:14:08 -0700 | [diff] [blame] | 319 | static int read_idm_word(const u8 *data, size_t size, int *pos, |
| 320 | unsigned int *val) |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 321 | { |
| 322 | int result = 0; |
H Hartley Sweeten | cd9da61 | 2014-07-16 11:01:59 -0700 | [diff] [blame] | 323 | int value; |
| 324 | |
H Hartley Sweeten | 57991b6 | 2012-09-17 13:17:19 -0700 | [diff] [blame] | 325 | if (pos && val) { |
Bill Pemberton | 2696fb5 | 2009-03-27 11:29:34 -0400 | [diff] [blame] | 326 | /* Skip over non hex */ |
Ian Abbott | abcdc99 | 2012-11-01 18:34:41 +0000 | [diff] [blame] | 327 | for (; *pos < size && !isxdigit(data[*pos]); (*pos)++) |
| 328 | ; |
Bill Pemberton | 2696fb5 | 2009-03-27 11:29:34 -0400 | [diff] [blame] | 329 | /* Collect value */ |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 330 | *val = 0; |
Andy Shevchenko | 3ff16c2 | 2010-06-15 17:25:38 +0300 | [diff] [blame] | 331 | for (; *pos < size; (*pos)++) { |
Andy Shevchenko | 3ff16c2 | 2010-06-15 17:25:38 +0300 | [diff] [blame] | 332 | value = hex_to_bin(data[*pos]); |
| 333 | if (value >= 0) { |
| 334 | result = 1; |
| 335 | *val = (*val << 4) + value; |
Ian Abbott | abcdc99 | 2012-11-01 18:34:41 +0000 | [diff] [blame] | 336 | } else { |
Andy Shevchenko | 3ff16c2 | 2010-06-15 17:25:38 +0300 | [diff] [blame] | 337 | break; |
Ian Abbott | abcdc99 | 2012-11-01 18:34:41 +0000 | [diff] [blame] | 338 | } |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 339 | } |
| 340 | } |
| 341 | return result; |
| 342 | } |
| 343 | |
H Hartley Sweeten | 127301c | 2014-03-07 13:41:01 -0700 | [diff] [blame] | 344 | static int jr3_check_firmware(struct comedi_device *dev, |
| 345 | const u8 *data, size_t size) |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 346 | { |
H Hartley Sweeten | 127301c | 2014-03-07 13:41:01 -0700 | [diff] [blame] | 347 | int more = 1; |
| 348 | int pos = 0; |
| 349 | |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 350 | /* |
| 351 | * IDM file format is: |
| 352 | * { count, address, data <count> } * |
| 353 | * ffff |
| 354 | */ |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 355 | while (more) { |
H Hartley Sweeten | 127301c | 2014-03-07 13:41:01 -0700 | [diff] [blame] | 356 | unsigned int count = 0; |
| 357 | unsigned int addr = 0; |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 358 | |
| 359 | more = more && read_idm_word(data, size, &pos, &count); |
H Hartley Sweeten | 127301c | 2014-03-07 13:41:01 -0700 | [diff] [blame] | 360 | if (more && count == 0xffff) |
| 361 | return 0; |
| 362 | |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 363 | more = more && read_idm_word(data, size, &pos, &addr); |
| 364 | while (more && count > 0) { |
H Hartley Sweeten | 127301c | 2014-03-07 13:41:01 -0700 | [diff] [blame] | 365 | unsigned int dummy = 0; |
| 366 | |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 367 | more = more && read_idm_word(data, size, &pos, &dummy); |
| 368 | count--; |
| 369 | } |
| 370 | } |
| 371 | |
H Hartley Sweeten | 127301c | 2014-03-07 13:41:01 -0700 | [diff] [blame] | 372 | return -ENODATA; |
| 373 | } |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 374 | |
H Hartley Sweeten | 127301c | 2014-03-07 13:41:01 -0700 | [diff] [blame] | 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; |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 384 | |
H Hartley Sweeten | 127301c | 2014-03-07 13:41:01 -0700 | [diff] [blame] | 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 | |
Ian Abbott | abcdc99 | 2012-11-01 18:34:41 +0000 | [diff] [blame] | 403 | more = more && |
H Hartley Sweeten | 127301c | 2014-03-07 13:41:01 -0700 | [diff] [blame] | 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 | |
Ian Abbott | abcdc99 | 2012-11-01 18:34:41 +0000 | [diff] [blame] | 415 | more = more && |
H Hartley Sweeten | 127301c | 2014-03-07 13:41:01 -0700 | [diff] [blame] | 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); |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 425 | } |
| 426 | } |
H Hartley Sweeten | 127301c | 2014-03-07 13:41:01 -0700 | [diff] [blame] | 427 | addr++; |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 428 | } |
| 429 | } |
H Hartley Sweeten | 127301c | 2014-03-07 13:41:01 -0700 | [diff] [blame] | 430 | } |
| 431 | |
| 432 | static int jr3_download_firmware(struct comedi_device *dev, |
| 433 | const u8 *data, size_t size, |
| 434 | unsigned long context) |
| 435 | { |
H Hartley Sweeten | 127301c | 2014-03-07 13:41:01 -0700 | [diff] [blame] | 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 */ |
H Hartley Sweeten | ed8cd56 | 2014-03-07 13:41:05 -0700 | [diff] [blame] | 445 | for (subdev = 0; subdev < dev->n_subdevices; subdev++) |
H Hartley Sweeten | 127301c | 2014-03-07 13:41:01 -0700 | [diff] [blame] | 446 | jr3_write_firmware(dev, subdev, data, size); |
| 447 | |
| 448 | return 0; |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 449 | } |
| 450 | |
H Hartley Sweeten | da1331a | 2014-03-07 13:41:07 -0700 | [diff] [blame] | 451 | static struct jr3_pci_poll_delay jr3_pci_poll_subdevice(struct comedi_subdevice *s) |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 452 | { |
H Hartley Sweeten | 01fca47 | 2014-03-07 13:41:00 -0700 | [diff] [blame] | 453 | struct jr3_pci_subdev_private *spriv = s->private; |
H Hartley Sweeten | da1331a | 2014-03-07 13:41:07 -0700 | [diff] [blame] | 454 | struct jr3_pci_poll_delay result = poll_delay_min_max(1000, 2000); |
H Hartley Sweeten | 01fca47 | 2014-03-07 13:41:00 -0700 | [diff] [blame] | 455 | struct jr3_channel __iomem *channel; |
| 456 | u16 model_no; |
| 457 | u16 serial_no; |
| 458 | int errors; |
Ian Abbott | b1f68dc | 2009-09-21 15:12:32 -0400 | [diff] [blame] | 459 | int i; |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 460 | |
H Hartley Sweeten | 01fca47 | 2014-03-07 13:41:00 -0700 | [diff] [blame] | 461 | if (!spriv) |
| 462 | return result; |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 463 | |
H Hartley Sweeten | 01fca47 | 2014-03-07 13:41:00 -0700 | [diff] [blame] | 464 | channel = spriv->channel; |
| 465 | errors = get_u16(&channel->errors); |
Kumar Amit Mehta | 7803d8e | 2012-11-07 04:08:09 -0800 | [diff] [blame] | 466 | |
H Hartley Sweeten | 01fca47 | 2014-03-07 13:41:00 -0700 | [diff] [blame] | 467 | if (errors != spriv->errors) |
| 468 | spriv->errors = errors; |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 469 | |
H Hartley Sweeten | 01fca47 | 2014-03-07 13:41:00 -0700 | [diff] [blame] | 470 | /* Sensor communication lost? force poll mode */ |
| 471 | if (errors & (watch_dog | watch_dog2 | sensor_change)) |
| 472 | spriv->state = state_jr3_poll; |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 473 | |
H Hartley Sweeten | 01fca47 | 2014-03-07 13:41:00 -0700 | [diff] [blame] | 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); |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 478 | |
H Hartley Sweeten | 01fca47 | 2014-03-07 13:41:00 -0700 | [diff] [blame] | 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; |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 489 | } |
H Hartley Sweeten | 01fca47 | 2014-03-07 13:41:00 -0700 | [diff] [blame] | 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 { |
H Hartley Sweeten | 0a44493 | 2014-03-07 13:41:06 -0700 | [diff] [blame] | 499 | struct jr3_pci_transform transf; |
H Hartley Sweeten | 01fca47 | 2014-03-07 13:41:00 -0700 | [diff] [blame] | 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; |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 588 | } |
H Hartley Sweeten | 01fca47 | 2014-03-07 13:41:00 -0700 | [diff] [blame] | 589 | |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 590 | return result; |
| 591 | } |
| 592 | |
| 593 | static void jr3_pci_poll_dev(unsigned long data) |
| 594 | { |
Mithlesh Thukral | 0a85b6f | 2009-06-08 21:04:41 +0530 | [diff] [blame] | 595 | struct comedi_device *dev = (struct comedi_device *)data; |
Bill Pemberton | 217fbbb | 2009-03-16 22:15:24 -0400 | [diff] [blame] | 596 | struct jr3_pci_dev_private *devpriv = dev->private; |
H Hartley Sweeten | a448376 | 2014-03-07 13:40:59 -0700 | [diff] [blame] | 597 | struct jr3_pci_subdev_private *spriv; |
| 598 | struct comedi_subdevice *s; |
| 599 | unsigned long flags; |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 600 | unsigned long now; |
| 601 | int delay; |
| 602 | int i; |
| 603 | |
Greg Kroah-Hartman | 5f74ea1 | 2009-04-27 14:44:31 -0700 | [diff] [blame] | 604 | spin_lock_irqsave(&dev->spinlock, flags); |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 605 | delay = 1000; |
| 606 | now = jiffies; |
H Hartley Sweeten | a448376 | 2014-03-07 13:40:59 -0700 | [diff] [blame] | 607 | |
| 608 | /* Poll all channels that are ready to be polled */ |
H Hartley Sweeten | ed8cd56 | 2014-03-07 13:41:05 -0700 | [diff] [blame] | 609 | for (i = 0; i < dev->n_subdevices; i++) { |
H Hartley Sweeten | a448376 | 2014-03-07 13:40:59 -0700 | [diff] [blame] | 610 | s = &dev->subdevices[i]; |
| 611 | spriv = s->private; |
| 612 | |
| 613 | if (now > spriv->next_time_min) { |
H Hartley Sweeten | da1331a | 2014-03-07 13:41:07 -0700 | [diff] [blame] | 614 | struct jr3_pci_poll_delay sub_delay; |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 615 | |
H Hartley Sweeten | a448376 | 2014-03-07 13:40:59 -0700 | [diff] [blame] | 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 | |
Ian Abbott | abcdc99 | 2012-11-01 18:34:41 +0000 | [diff] [blame] | 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 | */ |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 628 | delay = sub_delay.max; |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 629 | } |
| 630 | } |
Greg Kroah-Hartman | 5f74ea1 | 2009-04-27 14:44:31 -0700 | [diff] [blame] | 631 | spin_unlock_irqrestore(&dev->spinlock, flags); |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 632 | |
| 633 | devpriv->timer.expires = jiffies + msecs_to_jiffies(delay); |
| 634 | add_timer(&devpriv->timer); |
| 635 | } |
| 636 | |
H Hartley Sweeten | 9e4d674 | 2014-03-07 13:40:57 -0700 | [diff] [blame] | 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; |
H Hartley Sweeten | 9e4d674 | 2014-03-07 13:40:57 -0700 | [diff] [blame] | 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 | |
Bill Pemberton | a690b7e | 2012-11-19 13:21:58 -0500 | [diff] [blame] | 679 | static int jr3_pci_auto_attach(struct comedi_device *dev, |
H Hartley Sweeten | 7211806 | 2014-03-11 10:03:31 -0700 | [diff] [blame] | 680 | unsigned long context) |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 681 | { |
Ian Abbott | 6af0cf7 | 2012-11-01 18:34:36 +0000 | [diff] [blame] | 682 | struct pci_dev *pcidev = comedi_to_pci_dev(dev); |
Vladimir A. Nazarenko | 165356c | 2014-08-27 17:48:21 +1100 | [diff] [blame] | 683 | static const struct jr3_pci_board *board; |
Bill Pemberton | 217fbbb | 2009-03-16 22:15:24 -0400 | [diff] [blame] | 684 | struct jr3_pci_dev_private *devpriv; |
H Hartley Sweeten | 3c77274 | 2014-03-07 13:40:58 -0700 | [diff] [blame] | 685 | struct jr3_pci_subdev_private *spriv; |
H Hartley Sweeten | 050389f | 2014-03-07 13:40:55 -0700 | [diff] [blame] | 686 | struct comedi_subdevice *s; |
H Hartley Sweeten | 3c77274 | 2014-03-07 13:40:58 -0700 | [diff] [blame] | 687 | int ret; |
H Hartley Sweeten | 050389f | 2014-03-07 13:40:55 -0700 | [diff] [blame] | 688 | int i; |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 689 | |
Bill Pemberton | 6708079 | 2009-03-16 22:13:31 -0400 | [diff] [blame] | 690 | if (sizeof(struct jr3_channel) != 0xc00) { |
Ian Abbott | f41ad66 | 2012-06-18 14:05:34 +0100 | [diff] [blame] | 691 | dev_err(dev->class_dev, |
| 692 | "sizeof(struct jr3_channel) = %x [expected %x]\n", |
Ravishankar Karkala Mallikarjunayya | 5efe115 | 2016-06-06 16:31:23 +0530 | [diff] [blame] | 693 | (unsigned int)sizeof(struct jr3_channel), 0xc00); |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 694 | return -EINVAL; |
| 695 | } |
| 696 | |
H Hartley Sweeten | 7211806 | 2014-03-11 10:03:31 -0700 | [diff] [blame] | 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 | |
H Hartley Sweeten | 0bdab50 | 2013-06-24 16:55:44 -0700 | [diff] [blame] | 704 | devpriv = comedi_alloc_devpriv(dev, sizeof(*devpriv)); |
H Hartley Sweeten | c34fa26 | 2012-10-23 13:22:37 -0700 | [diff] [blame] | 705 | if (!devpriv) |
| 706 | return -ENOMEM; |
H Hartley Sweeten | 9a1a6cf | 2012-10-15 10:15:52 -0700 | [diff] [blame] | 707 | |
H Hartley Sweeten | 3c77274 | 2014-03-07 13:40:58 -0700 | [diff] [blame] | 708 | ret = comedi_pci_enable(dev); |
| 709 | if (ret) |
| 710 | return ret; |
H Hartley Sweeten | 818f569 | 2013-03-13 10:36:31 -0700 | [diff] [blame] | 711 | |
H Hartley Sweeten | 8567a85 | 2013-04-10 11:31:05 -0700 | [diff] [blame] | 712 | devpriv->iobase = pci_ioremap_bar(pcidev, 0); |
Ian Abbott | fa5c5f4 | 2009-11-30 10:59:27 +0000 | [diff] [blame] | 713 | if (!devpriv->iobase) |
| 714 | return -ENOMEM; |
| 715 | |
H Hartley Sweeten | ed8cd56 | 2014-03-07 13:41:05 -0700 | [diff] [blame] | 716 | ret = comedi_alloc_subdevices(dev, board->n_subdevs); |
H Hartley Sweeten | 3c77274 | 2014-03-07 13:40:58 -0700 | [diff] [blame] | 717 | if (ret) |
| 718 | return ret; |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 719 | |
| 720 | dev->open = jr3_pci_open; |
H Hartley Sweeten | ed8cd56 | 2014-03-07 13:41:05 -0700 | [diff] [blame] | 721 | for (i = 0; i < dev->n_subdevices; i++) { |
H Hartley Sweeten | 050389f | 2014-03-07 13:40:55 -0700 | [diff] [blame] | 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 | |
H Hartley Sweeten | 3c77274 | 2014-03-07 13:40:58 -0700 | [diff] [blame] | 728 | spriv = jr3_pci_alloc_spriv(dev, s); |
| 729 | if (spriv) { |
H Hartley Sweeten | 9e4d674 | 2014-03-07 13:40:57 -0700 | [diff] [blame] | 730 | /* Channel specific range and maxdata */ |
H Hartley Sweeten | 3c77274 | 2014-03-07 13:40:58 -0700 | [diff] [blame] | 731 | s->range_table_list = spriv->range_table_list; |
| 732 | s->maxdata_list = spriv->maxdata_list; |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 733 | } |
| 734 | } |
| 735 | |
Bill Pemberton | 2696fb5 | 2009-03-27 11:29:34 -0400 | [diff] [blame] | 736 | /* Reset DSP card */ |
Ian Abbott | e1878957 | 2012-09-27 17:45:27 +0100 | [diff] [blame] | 737 | writel(0, &devpriv->iobase->channel[0].reset); |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 738 | |
H Hartley Sweeten | 3c77274 | 2014-03-07 13:40:58 -0700 | [diff] [blame] | 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; |
Ian Abbott | abcdc99 | 2012-11-01 18:34:41 +0000 | [diff] [blame] | 745 | /* |
| 746 | * TODO: use firmware to load preferred offset tables. Suggested |
| 747 | * format: |
| 748 | * model serial Fx Fy Fz Mx My Mz\n |
| 749 | * |
H Hartley Sweeten | 9ff8b15 | 2013-05-17 11:17:00 -0700 | [diff] [blame] | 750 | * comedi_load_firmware(dev, &comedi_to_pci_dev(dev)->dev, |
| 751 | * "comedi/jr3_offsets_table", |
H Hartley Sweeten | d569541 | 2013-05-17 11:18:01 -0700 | [diff] [blame] | 752 | * jr3_download_firmware, 1); |
Ian Abbott | abcdc99 | 2012-11-01 18:34:41 +0000 | [diff] [blame] | 753 | */ |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 754 | |
Ian Abbott | abcdc99 | 2012-11-01 18:34:41 +0000 | [diff] [blame] | 755 | /* |
| 756 | * It takes a few milliseconds for software to settle as much as we |
| 757 | * can read firmware version |
| 758 | */ |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 759 | msleep_interruptible(25); |
| 760 | for (i = 0; i < 0x18; i++) { |
Ian Abbott | f41ad66 | 2012-06-18 14:05:34 +0100 | [diff] [blame] | 761 | dev_dbg(dev->class_dev, "%c\n", |
Ravishankar karkala Mallikarjunayya | 351a1d3 | 2011-12-12 10:49:25 +0530 | [diff] [blame] | 762 | get_u16(&devpriv->iobase->channel[0]. |
| 763 | data.copyright[i]) >> 8); |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 764 | } |
| 765 | |
Bill Pemberton | 2696fb5 | 2009-03-27 11:29:34 -0400 | [diff] [blame] | 766 | /* Start card timer */ |
H Hartley Sweeten | ed8cd56 | 2014-03-07 13:41:05 -0700 | [diff] [blame] | 767 | for (i = 0; i < dev->n_subdevices; i++) { |
H Hartley Sweeten | 050389f | 2014-03-07 13:40:55 -0700 | [diff] [blame] | 768 | s = &dev->subdevices[i]; |
H Hartley Sweeten | 3c77274 | 2014-03-07 13:40:58 -0700 | [diff] [blame] | 769 | spriv = s->private; |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 770 | |
H Hartley Sweeten | 3c77274 | 2014-03-07 13:40:58 -0700 | [diff] [blame] | 771 | spriv->next_time_min = jiffies + msecs_to_jiffies(500); |
| 772 | spriv->next_time_max = jiffies + msecs_to_jiffies(2000); |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 773 | } |
| 774 | |
Somya Anand | 81906c3 | 2015-03-11 17:02:13 +0530 | [diff] [blame] | 775 | setup_timer(&devpriv->timer, jr3_pci_poll_dev, (unsigned long)dev); |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 776 | devpriv->timer.expires = jiffies + msecs_to_jiffies(1000); |
| 777 | add_timer(&devpriv->timer); |
| 778 | |
H Hartley Sweeten | fb780d2 | 2014-02-03 11:26:51 -0700 | [diff] [blame] | 779 | return 0; |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 780 | } |
| 781 | |
H Hartley Sweeten | 484ecc9 | 2012-05-17 17:11:14 -0700 | [diff] [blame] | 782 | static void jr3_pci_detach(struct comedi_device *dev) |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 783 | { |
Bill Pemberton | 217fbbb | 2009-03-16 22:15:24 -0400 | [diff] [blame] | 784 | struct jr3_pci_dev_private *devpriv = dev->private; |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 785 | |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 786 | if (devpriv) { |
| 787 | del_timer_sync(&devpriv->timer); |
| 788 | |
Stephane Pajot | c77049e | 2011-05-09 15:51:59 +0200 | [diff] [blame] | 789 | if (devpriv->iobase) |
Ian Abbott | 95b2468 | 2012-10-15 12:20:00 +0100 | [diff] [blame] | 790 | iounmap(devpriv->iobase); |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 791 | } |
H Hartley Sweeten | 7f072f5 | 2013-03-13 10:35:51 -0700 | [diff] [blame] | 792 | comedi_pci_disable(dev); |
Anders Blomdell | 07b509e | 2009-02-12 16:07:16 -0800 | [diff] [blame] | 793 | } |
| 794 | |
H Hartley Sweeten | 75e6301 | 2012-05-11 16:16:20 -0700 | [diff] [blame] | 795 | static struct comedi_driver jr3_pci_driver = { |
H Hartley Sweeten | df61178 | 2012-05-04 15:57:24 -0700 | [diff] [blame] | 796 | .driver_name = "jr3_pci", |
| 797 | .module = THIS_MODULE, |
Ian Abbott | b7703d7 | 2012-11-01 18:34:35 +0000 | [diff] [blame] | 798 | .auto_attach = jr3_pci_auto_attach, |
H Hartley Sweeten | df61178 | 2012-05-04 15:57:24 -0700 | [diff] [blame] | 799 | .detach = jr3_pci_detach, |
| 800 | }; |
| 801 | |
Bill Pemberton | a690b7e | 2012-11-19 13:21:58 -0500 | [diff] [blame] | 802 | static int jr3_pci_pci_probe(struct pci_dev *dev, |
H Hartley Sweeten | b8f4ac2 | 2013-03-05 09:53:41 -0700 | [diff] [blame] | 803 | const struct pci_device_id *id) |
Arun Thomas | 727b286 | 2010-06-06 22:23:31 +0200 | [diff] [blame] | 804 | { |
H Hartley Sweeten | b8f4ac2 | 2013-03-05 09:53:41 -0700 | [diff] [blame] | 805 | return comedi_pci_auto_config(dev, &jr3_pci_driver, id->driver_data); |
Arun Thomas | 727b286 | 2010-06-06 22:23:31 +0200 | [diff] [blame] | 806 | } |
| 807 | |
Jingoo Han | 41e043f | 2013-12-03 08:26:00 +0900 | [diff] [blame] | 808 | static const struct pci_device_id jr3_pci_pci_table[] = { |
H Hartley Sweeten | 7211806 | 2014-03-11 10:03:31 -0700 | [diff] [blame] | 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 }, |
H Hartley Sweeten | df61178 | 2012-05-04 15:57:24 -0700 | [diff] [blame] | 814 | { 0 } |
| 815 | }; |
| 816 | MODULE_DEVICE_TABLE(pci, jr3_pci_pci_table); |
| 817 | |
H Hartley Sweeten | 75e6301 | 2012-05-11 16:16:20 -0700 | [diff] [blame] | 818 | static struct pci_driver jr3_pci_pci_driver = { |
| 819 | .name = "jr3_pci", |
H Hartley Sweeten | df61178 | 2012-05-04 15:57:24 -0700 | [diff] [blame] | 820 | .id_table = jr3_pci_pci_table, |
H Hartley Sweeten | 75e6301 | 2012-05-11 16:16:20 -0700 | [diff] [blame] | 821 | .probe = jr3_pci_pci_probe, |
Peter Huewe | 9901a4d | 2013-01-22 23:40:03 +0100 | [diff] [blame] | 822 | .remove = comedi_pci_auto_unconfig, |
Arun Thomas | 727b286 | 2010-06-06 22:23:31 +0200 | [diff] [blame] | 823 | }; |
H Hartley Sweeten | 75e6301 | 2012-05-11 16:16:20 -0700 | [diff] [blame] | 824 | module_comedi_pci_driver(jr3_pci_driver, jr3_pci_pci_driver); |
Arun Thomas | 90f703d | 2010-06-06 22:23:29 +0200 | [diff] [blame] | 825 | |
| 826 | MODULE_AUTHOR("Comedi http://www.comedi.org"); |
| 827 | MODULE_DESCRIPTION("Comedi low-level driver"); |
| 828 | MODULE_LICENSE("GPL"); |
H Hartley Sweeten | df61178 | 2012-05-04 15:57:24 -0700 | [diff] [blame] | 829 | MODULE_FIRMWARE("comedi/jr3pci.idm"); |