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