1 // SPDX-License-Identifier: GPL-2.0+
3 * comedi/drivers/jr3_pci.c
4 * hardware driver for JR3/PCI force sensor board
6 * COMEDI - Linux Control and Measurement Device Interface
7 * Copyright (C) 2007 Anders Blomdell <anders.blomdell@control.lth.se>
11 * Description: JR3/PCI force sensor board
12 * Author: Anders Blomdell <anders.blomdell@control.lth.se>
13 * Updated: Thu, 01 Nov 2012 17:34:55 +0000
15 * Devices: [JR3] PCI force sensor board (jr3_pci)
17 * Configuration options:
20 * Manual configuration of comedi devices is not supported by this
21 * driver; supported PCI devices are configured as comedi devices
24 * The DSP on the board requires initialization code, which can be
25 * loaded by placing it in /lib/firmware/comedi. The initialization
26 * code should be somewhere on the media you got with your card. One
27 * version is available from https://www.comedi.org in the
28 * comedi_nonfree_firmware tarball. The file is called "jr3pci.idm".
31 #include <linux/kernel.h>
32 #include <linux/module.h>
33 #include <linux/delay.h>
34 #include <linux/ctype.h>
35 #include <linux/jiffies.h>
36 #include <linux/slab.h>
37 #include <linux/timer.h>
39 #include "../comedi_pci.h"
43 #define PCI_VENDOR_ID_JR3 0x1762
45 enum jr3_pci_boardid {
52 struct jr3_pci_board {
57 static const struct jr3_pci_board jr3_pci_boards[] = {
76 struct jr3_pci_transform {
83 struct jr3_pci_poll_delay {
88 struct jr3_pci_dev_private {
89 struct timer_list timer;
90 struct comedi_device *dev;
93 union jr3_pci_single_range {
94 struct comedi_lrange l;
95 char _reserved[offsetof(struct comedi_lrange, range[1])];
98 enum jr3_pci_poll_state {
100 state_jr3_init_wait_for_offset,
101 state_jr3_init_transform_complete,
102 state_jr3_init_set_full_scale_complete,
103 state_jr3_init_use_offset_complete,
107 struct jr3_pci_subdev_private {
108 struct jr3_sensor __iomem *sensor;
109 unsigned long next_time_min;
110 enum jr3_pci_poll_state state;
113 union jr3_pci_single_range range[9];
114 const struct comedi_lrange *range_table_list[8 * 7 + 2];
115 unsigned int maxdata_list[8 * 7 + 2];
120 static struct jr3_pci_poll_delay poll_delay_min_max(int min, int max)
122 struct jr3_pci_poll_delay result;
129 static int is_complete(struct jr3_sensor __iomem *sensor)
131 return get_s16(&sensor->command_word0) == 0;
134 static void set_transforms(struct jr3_sensor __iomem *sensor,
135 const struct jr3_pci_transform *transf, short num)
139 num &= 0x000f; /* Make sure that 0 <= num <= 15 */
140 for (i = 0; i < 8; i++) {
141 set_u16(&sensor->transforms[num].link[i].link_type,
142 transf->link[i].link_type);
144 set_s16(&sensor->transforms[num].link[i].link_amount,
145 transf->link[i].link_amount);
147 if (transf->link[i].link_type == end_x_form)
152 static void use_transform(struct jr3_sensor __iomem *sensor,
155 set_s16(&sensor->command_word0, 0x0500 + (transf_num & 0x000f));
158 static void use_offset(struct jr3_sensor __iomem *sensor, short offset_num)
160 set_s16(&sensor->command_word0, 0x0600 + (offset_num & 0x000f));
163 static void set_offset(struct jr3_sensor __iomem *sensor)
165 set_s16(&sensor->command_word0, 0x0700);
177 static void set_full_scales(struct jr3_sensor __iomem *sensor,
178 struct six_axis_t full_scale)
180 set_s16(&sensor->full_scale.fx, full_scale.fx);
181 set_s16(&sensor->full_scale.fy, full_scale.fy);
182 set_s16(&sensor->full_scale.fz, full_scale.fz);
183 set_s16(&sensor->full_scale.mx, full_scale.mx);
184 set_s16(&sensor->full_scale.my, full_scale.my);
185 set_s16(&sensor->full_scale.mz, full_scale.mz);
186 set_s16(&sensor->command_word0, 0x0a00);
189 static struct six_axis_t get_min_full_scales(struct jr3_sensor __iomem *sensor)
191 struct six_axis_t result;
193 result.fx = get_s16(&sensor->min_full_scale.fx);
194 result.fy = get_s16(&sensor->min_full_scale.fy);
195 result.fz = get_s16(&sensor->min_full_scale.fz);
196 result.mx = get_s16(&sensor->min_full_scale.mx);
197 result.my = get_s16(&sensor->min_full_scale.my);
198 result.mz = get_s16(&sensor->min_full_scale.mz);
202 static struct six_axis_t get_max_full_scales(struct jr3_sensor __iomem *sensor)
204 struct six_axis_t result;
206 result.fx = get_s16(&sensor->max_full_scale.fx);
207 result.fy = get_s16(&sensor->max_full_scale.fy);
208 result.fz = get_s16(&sensor->max_full_scale.fz);
209 result.mx = get_s16(&sensor->max_full_scale.mx);
210 result.my = get_s16(&sensor->max_full_scale.my);
211 result.mz = get_s16(&sensor->max_full_scale.mz);
215 static unsigned int jr3_pci_ai_read_chan(struct comedi_device *dev,
216 struct comedi_subdevice *s,
219 struct jr3_pci_subdev_private *spriv = s->private;
220 unsigned int val = 0;
222 if (spriv->state != state_jr3_done)
226 unsigned int axis = chan % 8;
227 unsigned int filter = chan / 8;
231 val = get_s16(&spriv->sensor->filter[filter].fx);
234 val = get_s16(&spriv->sensor->filter[filter].fy);
237 val = get_s16(&spriv->sensor->filter[filter].fz);
240 val = get_s16(&spriv->sensor->filter[filter].mx);
243 val = get_s16(&spriv->sensor->filter[filter].my);
246 val = get_s16(&spriv->sensor->filter[filter].mz);
249 val = get_s16(&spriv->sensor->filter[filter].v1);
252 val = get_s16(&spriv->sensor->filter[filter].v2);
256 } else if (chan == 56) {
257 val = get_u16(&spriv->sensor->model_no);
258 } else if (chan == 57) {
259 val = get_u16(&spriv->sensor->serial_no);
265 static int jr3_pci_ai_insn_read(struct comedi_device *dev,
266 struct comedi_subdevice *s,
267 struct comedi_insn *insn,
270 struct jr3_pci_subdev_private *spriv = s->private;
271 unsigned int chan = CR_CHAN(insn->chanspec);
275 errors = get_u16(&spriv->sensor->errors);
276 if (spriv->state != state_jr3_done ||
277 (errors & (watch_dog | watch_dog2 | sensor_change))) {
278 /* No sensor or sensor changed */
279 if (spriv->state == state_jr3_done) {
280 /* Restart polling */
281 spriv->state = state_jr3_poll;
286 for (i = 0; i < insn->n; i++)
287 data[i] = jr3_pci_ai_read_chan(dev, s, chan);
292 static int jr3_pci_open(struct comedi_device *dev)
294 struct jr3_pci_subdev_private *spriv;
295 struct comedi_subdevice *s;
298 for (i = 0; i < dev->n_subdevices; i++) {
299 s = &dev->subdevices[i];
301 dev_dbg(dev->class_dev, "serial[%d]: %d\n", s->index,
307 static int read_idm_word(const u8 *data, size_t size, int *pos,
314 /* Skip over non hex */
315 for (; *pos < size && !isxdigit(data[*pos]); (*pos)++)
319 for (; *pos < size; (*pos)++) {
320 value = hex_to_bin(data[*pos]);
323 *val = (*val << 4) + value;
332 static int jr3_check_firmware(struct comedi_device *dev,
333 const u8 *data, size_t size)
339 * IDM file format is:
340 * { count, address, data <count> } *
344 unsigned int count = 0;
345 unsigned int addr = 0;
347 more = more && read_idm_word(data, size, &pos, &count);
348 if (more && count == 0xffff)
351 more = more && read_idm_word(data, size, &pos, &addr);
352 while (more && count > 0) {
353 unsigned int dummy = 0;
355 more = more && read_idm_word(data, size, &pos, &dummy);
363 static void jr3_write_firmware(struct comedi_device *dev,
364 int subdev, const u8 *data, size_t size)
366 struct jr3_block __iomem *block = dev->mmio;
373 unsigned int count = 0;
374 unsigned int addr = 0;
376 more = more && read_idm_word(data, size, &pos, &count);
377 if (more && count == 0xffff)
380 more = more && read_idm_word(data, size, &pos, &addr);
382 dev_dbg(dev->class_dev, "Loading#%d %4.4x bytes at %4.4x\n",
383 subdev, count, addr);
385 while (more && count > 0) {
387 /* 16 bit data, never seen in real life!! */
388 unsigned int data1 = 0;
391 read_idm_word(data, size, &pos, &data1);
393 /* jr3[addr + 0x20000 * pnum] = data1; */
395 /* Download 24 bit program */
396 unsigned int data1 = 0;
397 unsigned int data2 = 0;
399 lo = &block[subdev].program_lo[addr];
400 hi = &block[subdev].program_hi[addr];
403 read_idm_word(data, size, &pos, &data1);
405 read_idm_word(data, size, &pos, &data2);
419 static int jr3_download_firmware(struct comedi_device *dev,
420 const u8 *data, size_t size,
421 unsigned long context)
426 /* verify IDM file format */
427 ret = jr3_check_firmware(dev, data, size);
431 /* write firmware to each subdevice */
432 for (subdev = 0; subdev < dev->n_subdevices; subdev++)
433 jr3_write_firmware(dev, subdev, data, size);
438 static struct jr3_pci_poll_delay
439 jr3_pci_poll_subdevice(struct comedi_subdevice *s)
441 struct jr3_pci_subdev_private *spriv = s->private;
442 struct jr3_pci_poll_delay result = poll_delay_min_max(1000, 2000);
443 struct jr3_sensor __iomem *sensor;
449 sensor = spriv->sensor;
450 errors = get_u16(&sensor->errors);
452 if (errors != spriv->errors)
453 spriv->errors = errors;
455 /* Sensor communication lost? force poll mode */
456 if (errors & (watch_dog | watch_dog2 | sensor_change))
457 spriv->state = state_jr3_poll;
459 switch (spriv->state) {
461 model_no = get_u16(&sensor->model_no);
462 serial_no = get_u16(&sensor->serial_no);
464 if ((errors & (watch_dog | watch_dog2)) ||
465 model_no == 0 || serial_no == 0) {
467 * Still no sensor, keep on polling.
468 * Since it takes up to 10 seconds for offsets to
469 * stabilize, polling each second should suffice.
473 spriv->state = state_jr3_init_wait_for_offset;
476 case state_jr3_init_wait_for_offset:
478 if (spriv->retries < 10) {
480 * Wait for offeset to stabilize
481 * (< 10 s according to manual)
484 struct jr3_pci_transform transf;
486 spriv->model_no = get_u16(&sensor->model_no);
487 spriv->serial_no = get_u16(&sensor->serial_no);
489 /* Transformation all zeros */
490 for (i = 0; i < ARRAY_SIZE(transf.link); i++) {
491 transf.link[i].link_type = (enum link_types)0;
492 transf.link[i].link_amount = 0;
495 set_transforms(sensor, &transf, 0);
496 use_transform(sensor, 0);
497 spriv->state = state_jr3_init_transform_complete;
498 /* Allow 20 ms for completion */
499 result = poll_delay_min_max(20, 100);
502 case state_jr3_init_transform_complete:
503 if (!is_complete(sensor)) {
504 result = poll_delay_min_max(20, 100);
507 struct six_axis_t min_full_scale;
508 struct six_axis_t max_full_scale;
510 min_full_scale = get_min_full_scales(sensor);
511 max_full_scale = get_max_full_scales(sensor);
512 set_full_scales(sensor, max_full_scale);
514 spriv->state = state_jr3_init_set_full_scale_complete;
515 /* Allow 20 ms for completion */
516 result = poll_delay_min_max(20, 100);
519 case state_jr3_init_set_full_scale_complete:
520 if (!is_complete(sensor)) {
521 result = poll_delay_min_max(20, 100);
523 struct force_array __iomem *fs = &sensor->full_scale;
524 union jr3_pci_single_range *r = spriv->range;
526 /* Use ranges in kN or we will overflow around 2000N! */
527 r[0].l.range[0].min = -get_s16(&fs->fx) * 1000;
528 r[0].l.range[0].max = get_s16(&fs->fx) * 1000;
529 r[1].l.range[0].min = -get_s16(&fs->fy) * 1000;
530 r[1].l.range[0].max = get_s16(&fs->fy) * 1000;
531 r[2].l.range[0].min = -get_s16(&fs->fz) * 1000;
532 r[2].l.range[0].max = get_s16(&fs->fz) * 1000;
533 r[3].l.range[0].min = -get_s16(&fs->mx) * 100;
534 r[3].l.range[0].max = get_s16(&fs->mx) * 100;
535 r[4].l.range[0].min = -get_s16(&fs->my) * 100;
536 r[4].l.range[0].max = get_s16(&fs->my) * 100;
537 r[5].l.range[0].min = -get_s16(&fs->mz) * 100;
538 /* the next five are questionable */
539 r[5].l.range[0].max = get_s16(&fs->mz) * 100;
540 r[6].l.range[0].min = -get_s16(&fs->v1) * 100;
541 r[6].l.range[0].max = get_s16(&fs->v1) * 100;
542 r[7].l.range[0].min = -get_s16(&fs->v2) * 100;
543 r[7].l.range[0].max = get_s16(&fs->v2) * 100;
544 r[8].l.range[0].min = 0;
545 r[8].l.range[0].max = 65535;
547 use_offset(sensor, 0);
548 spriv->state = state_jr3_init_use_offset_complete;
549 /* Allow 40 ms for completion */
550 result = poll_delay_min_max(40, 100);
553 case state_jr3_init_use_offset_complete:
554 if (!is_complete(sensor)) {
555 result = poll_delay_min_max(20, 100);
557 set_s16(&sensor->offsets.fx, 0);
558 set_s16(&sensor->offsets.fy, 0);
559 set_s16(&sensor->offsets.fz, 0);
560 set_s16(&sensor->offsets.mx, 0);
561 set_s16(&sensor->offsets.my, 0);
562 set_s16(&sensor->offsets.mz, 0);
566 spriv->state = state_jr3_done;
570 result = poll_delay_min_max(10000, 20000);
579 static void jr3_pci_poll_dev(struct timer_list *t)
581 struct jr3_pci_dev_private *devpriv = from_timer(devpriv, t, timer);
582 struct comedi_device *dev = devpriv->dev;
583 struct jr3_pci_subdev_private *spriv;
584 struct comedi_subdevice *s;
590 spin_lock_irqsave(&dev->spinlock, flags);
594 /* Poll all sensors that are ready to be polled */
595 for (i = 0; i < dev->n_subdevices; i++) {
596 s = &dev->subdevices[i];
599 if (time_after_eq(now, spriv->next_time_min)) {
600 struct jr3_pci_poll_delay sub_delay;
602 sub_delay = jr3_pci_poll_subdevice(s);
604 spriv->next_time_min = jiffies +
605 msecs_to_jiffies(sub_delay.min);
607 if (sub_delay.max && sub_delay.max < delay)
609 * Wake up as late as possible ->
610 * poll as many sensors as possible at once.
612 delay = sub_delay.max;
615 spin_unlock_irqrestore(&dev->spinlock, flags);
617 devpriv->timer.expires = jiffies + msecs_to_jiffies(delay);
618 add_timer(&devpriv->timer);
621 static struct jr3_pci_subdev_private *
622 jr3_pci_alloc_spriv(struct comedi_device *dev, struct comedi_subdevice *s)
624 struct jr3_block __iomem *block = dev->mmio;
625 struct jr3_pci_subdev_private *spriv;
629 spriv = comedi_alloc_spriv(s, sizeof(*spriv));
633 spriv->sensor = &block[s->index].sensor;
635 for (j = 0; j < 8; j++) {
636 spriv->range[j].l.length = 1;
637 spriv->range[j].l.range[0].min = -1000000;
638 spriv->range[j].l.range[0].max = 1000000;
640 for (k = 0; k < 7; k++) {
641 spriv->range_table_list[j + k * 8] = &spriv->range[j].l;
642 spriv->maxdata_list[j + k * 8] = 0x7fff;
645 spriv->range[8].l.length = 1;
646 spriv->range[8].l.range[0].min = 0;
647 spriv->range[8].l.range[0].max = 65535;
649 spriv->range_table_list[56] = &spriv->range[8].l;
650 spriv->range_table_list[57] = &spriv->range[8].l;
651 spriv->maxdata_list[56] = 0xffff;
652 spriv->maxdata_list[57] = 0xffff;
657 static void jr3_pci_show_copyright(struct comedi_device *dev)
659 struct jr3_block __iomem *block = dev->mmio;
660 struct jr3_sensor __iomem *sensor0 = &block[0].sensor;
661 char copy[ARRAY_SIZE(sensor0->copyright) + 1];
664 for (i = 0; i < ARRAY_SIZE(sensor0->copyright); i++)
665 copy[i] = (char)(get_u16(&sensor0->copyright[i]) >> 8);
667 dev_dbg(dev->class_dev, "Firmware copyright: %s\n", copy);
670 static int jr3_pci_auto_attach(struct comedi_device *dev,
671 unsigned long context)
673 struct pci_dev *pcidev = comedi_to_pci_dev(dev);
674 static const struct jr3_pci_board *board;
675 struct jr3_pci_dev_private *devpriv;
676 struct jr3_pci_subdev_private *spriv;
677 struct jr3_block __iomem *block;
678 struct comedi_subdevice *s;
682 BUILD_BUG_ON(sizeof(struct jr3_block) != 0x80000);
684 if (context < ARRAY_SIZE(jr3_pci_boards))
685 board = &jr3_pci_boards[context];
688 dev->board_ptr = board;
689 dev->board_name = board->name;
691 devpriv = comedi_alloc_devpriv(dev, sizeof(*devpriv));
695 ret = comedi_pci_enable(dev);
699 if (pci_resource_len(pcidev, 0) < board->n_subdevs * sizeof(*block))
702 dev->mmio = pci_ioremap_bar(pcidev, 0);
708 ret = comedi_alloc_subdevices(dev, board->n_subdevs);
712 dev->open = jr3_pci_open;
713 for (i = 0; i < dev->n_subdevices; i++) {
714 s = &dev->subdevices[i];
715 s->type = COMEDI_SUBD_AI;
716 s->subdev_flags = SDF_READABLE | SDF_GROUND;
717 s->n_chan = 8 * 7 + 2;
718 s->insn_read = jr3_pci_ai_insn_read;
720 spriv = jr3_pci_alloc_spriv(dev, s);
724 /* Channel specific range and maxdata */
725 s->range_table_list = spriv->range_table_list;
726 s->maxdata_list = spriv->maxdata_list;
730 for (i = 0; i < dev->n_subdevices; i++)
731 writel(0, &block[i].reset);
733 ret = comedi_load_firmware(dev, &comedi_to_pci_dev(dev)->dev,
735 jr3_download_firmware, 0);
736 dev_dbg(dev->class_dev, "Firmware load %d\n", ret);
740 * TODO: use firmware to load preferred offset tables. Suggested
742 * model serial Fx Fy Fz Mx My Mz\n
744 * comedi_load_firmware(dev, &comedi_to_pci_dev(dev)->dev,
745 * "comedi/jr3_offsets_table",
746 * jr3_download_firmware, 1);
750 * It takes a few milliseconds for software to settle as much as we
751 * can read firmware version
753 msleep_interruptible(25);
754 jr3_pci_show_copyright(dev);
756 /* Start card timer */
757 for (i = 0; i < dev->n_subdevices; i++) {
758 s = &dev->subdevices[i];
761 spriv->next_time_min = jiffies + msecs_to_jiffies(500);
765 timer_setup(&devpriv->timer, jr3_pci_poll_dev, 0);
766 devpriv->timer.expires = jiffies + msecs_to_jiffies(1000);
767 add_timer(&devpriv->timer);
772 static void jr3_pci_detach(struct comedi_device *dev)
774 struct jr3_pci_dev_private *devpriv = dev->private;
777 del_timer_sync(&devpriv->timer);
779 comedi_pci_detach(dev);
782 static struct comedi_driver jr3_pci_driver = {
783 .driver_name = "jr3_pci",
784 .module = THIS_MODULE,
785 .auto_attach = jr3_pci_auto_attach,
786 .detach = jr3_pci_detach,
789 static int jr3_pci_pci_probe(struct pci_dev *dev,
790 const struct pci_device_id *id)
792 return comedi_pci_auto_config(dev, &jr3_pci_driver, id->driver_data);
795 static const struct pci_device_id jr3_pci_pci_table[] = {
796 { PCI_VDEVICE(JR3, 0x1111), BOARD_JR3_1 },
797 { PCI_VDEVICE(JR3, 0x3111), BOARD_JR3_1 },
798 { PCI_VDEVICE(JR3, 0x3112), BOARD_JR3_2 },
799 { PCI_VDEVICE(JR3, 0x3113), BOARD_JR3_3 },
800 { PCI_VDEVICE(JR3, 0x3114), BOARD_JR3_4 },
803 MODULE_DEVICE_TABLE(pci, jr3_pci_pci_table);
805 static struct pci_driver jr3_pci_pci_driver = {
807 .id_table = jr3_pci_pci_table,
808 .probe = jr3_pci_pci_probe,
809 .remove = comedi_pci_auto_unconfig,
811 module_comedi_pci_driver(jr3_pci_driver, jr3_pci_pci_driver);
813 MODULE_AUTHOR("Comedi https://www.comedi.org");
814 MODULE_DESCRIPTION("Comedi driver for JR3/PCI force sensor board");
815 MODULE_LICENSE("GPL");
816 MODULE_FIRMWARE("comedi/jr3pci.idm");