Re: JR3 force sensor driver from Anders Blomdell on 2007-06-29 (gmane.linux.comedi)

From: Anders Blomdell <anders.blomdell_at_control.lth.se>
Date: Fri, 29 Jun 2007 19:19:41 +0200

Frank Mori Hess wrote:
> On Friday 15 June 2007 12:54, Anders Blomdell wrote:
>> Still work to do, but this version seems to be fully working
> 
> Hi Anders,
> 
> Thanks for the driver.  The binary firmware shouldn't be compiled into the 
> driver though.  The firmware should go in a subdirectory of the 
> comedi_nonfree_firmware tarball (we can probably add a directory for it to 
> cvs if that would help) and be loaded to the driver from userspace.  You 
> can either use the support for loading firmware in comedi_config, or 
> figure out how to use the kernel's generic firmware loading support (no 
> drivers do this yet).
OK,

Updated patch with support for firmware upload (place jr3pci.idm in
/lib/firmware/comedi).

Regards

Anders Blomdell

-- 
Anders Blomdell                  Email: anders.blomdell_at_control.lth.se
Department of Automatic Control
Lund University                  Phone:    +46 46 222 4625
P.O. Box 118                     Fax:      +46 46 138118
SE-221 00 Lund, Sweden

diff -urbN --exclude '*.ko' --exclude '*.cache' --exclude '*.cmd' --exclude '*.o' --exclude '*.mod.c' --exclude '*~' comedi.orig/comedi/drivers/jr3_pci.c comedi/comedi/drivers/jr3_pci.c
--- comedi.orig/comedi/drivers/jr3_pci.c	1970-01-01 01:00:00.000000000 +0100
+++ comedi/comedi/drivers/jr3_pci.c	2007-06-29 18:51:29.000000000 +0200
_at__at_ -0,0 +1,882 _at__at_
+/*
+  comedi/drivers/jr3_pci.c
+  hardware driver for JR3/PCI force sensor board
+
+  COMEDI - Linux Control and Measurement Device Interface
+  Copyright (C) 2007 Anders Blomdell <anders.blomdell_at_control.lth.se>
+
+  This program is free software; you can redistribute it and/or modify
+  it under the terms of the GNU General Public License as published by
+  the Free Software Foundation; either version 2 of the License, or
+  (at your option) any later version.
+
+  This program is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+  GNU General Public License for more details.
+
+  You should have received a copy of the GNU General Public License
+  along with this program; if not, write to the Free Software
+  Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+
+*/
+/*
+  Driver: jr3_pci.o
+  Description: JR3/PCI force sensor board
+  Author: Anders Blomdell <anders.blomdell_at_control.lth.se>
+  Status: works
+  Devices: [JR3] PCI force sensor board (jr3_pci)
+
+  The DSP on the board requires initialization code, which can 
+  be loaded by placing it in /lib/firmware/comedi.  
+  The initialization code should be somewhere on the media you got 
+  with your card. One version is available from http://www.comedi.org
+  in the comedi_nonfree_firmware tarball.
+
+  Configuration options:
+  [0] - PCI bus number - if bus number and slot number are 0,
+                         then driver search for first unused card
+  [1] - PCI slot number
+
+*/
+
+#include <linux/comedidev.h>
+
+#include <linux/delay.h>
+#include <linux/pci.h>
+#include <linux/ctype.h>
+#include <linux/firmware.h>
+#include <linux/firmware.h>
+#include "jr3_pci.h"
+
+/* Hotplug firmware loading stuff */
+
+static void comedi_fw_release(struct device *dev)
+{
+  printk(KERN_DEBUG "firmware_sample_driver: ghost_release\n");
+}
+
+static struct device comedi_fw_device = {
+  .bus_id = "comedi",
+  .release = comedi_fw_release
+};
+
+typedef int comedi_firmware_callback(comedi_device *dev, 
+				      u8 *data, 
+				      size_t size);
+
+static int comedi_load_firmware(comedi_device *dev,
+				char *name, 
+				comedi_firmware_callback cb) {
+  int result = 0;
+  const struct firmware *fw;
+  char *firmware_path;
+  static const char *prefix = "comedi/";
+
+  firmware_path = kmalloc(strlen(prefix) + strlen(name) + 1, GFP_KERNEL);
+  if (!firmware_path) {
+    result = -ENOMEM;
+  } else {
+    firmware_path[0] = '\0';
+    strcat(firmware_path, prefix);
+    strcat(firmware_path, name);
+    result = device_register(&comedi_fw_device);
+    if (result == 0) {
+      result = request_firmware(&fw, firmware_path, &comedi_fw_device);
+      if (result == 0) {
+	if (!cb) {
+	  result = -EINVAL;
+	} else {
+	  result = cb(dev, fw->data, fw->size);
+	}
+	release_firmware(fw);
+      }
+      device_unregister(&comedi_fw_device);
+    }
+    kfree(firmware_path);
+  }
+  return result;
+}
+
+
+
+#define PCI_VENDOR_ID_JR3 0x1762
+#define PCI_DEVICE_ID_JR3_1_CHANNEL 0x3111
+#define PCI_DEVICE_ID_JR3_2_CHANNEL 0x3112
+#define PCI_DEVICE_ID_JR3_3_CHANNEL 0x3113
+#define PCI_DEVICE_ID_JR3_4_CHANNEL 0x3114
+
+static int jr3_pci_attach(comedi_device *dev,comedi_devconfig *it);
+static int jr3_pci_detach(comedi_device *dev);
+
+static comedi_driver driver_jr3_pci = {
+  driver_name:	"jr3_pci",
+  module:	THIS_MODULE,
+  attach:	jr3_pci_attach,
+  detach:	jr3_pci_detach,
+};
+
+static struct pci_device_id jr3_pci_pci_table[] __devinitdata = {
+  { PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_1_CHANNEL, 
+    PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0 },
+  { PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_2_CHANNEL, 
+    PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0 },
+  { PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_3_CHANNEL, 
+    PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0 },
+  { PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_4_CHANNEL, 
+    PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0 },
+  { 0 }
+};
+MODULE_DEVICE_TABLE(pci, jr3_pci_pci_table);
+
+typedef struct {
+  struct pci_dev *pci_dev;
+  volatile jr3_t *iobase;
+  int n_channels;
+  struct timer_list timer;
+} jr3_pci_dev_private;
+
+typedef struct {
+  int min;
+  int max;
+} poll_delay_t;
+
+typedef struct {
+  volatile jr3_channel_t *channel;
+  unsigned long next_time_min;
+  unsigned long next_time_max;
+  enum { state_jr3_poll, 
+	 state_jr3_init_wait_for_offset,
+	 state_jr3_init_transform_complete,
+	 state_jr3_init_set_full_scale_complete,
+	 state_jr3_init_use_offset_complete,
+	 state_jr3_done } state;
+  int channel_no;
+  int serial_no;
+  int model_no;
+  struct {
+    int length;
+    comedi_krange range;
+  } range[9];
+  comedi_lrange *range_table_list[8 * 7 + 2];
+  lsampl_t maxdata_list[8 * 7 + 2];
+  u16 errors;
+  int retries;
+} jr3_pci_subdev_private;
+
+static poll_delay_t poll_delay_min_max(int min, int max)
+{
+  poll_delay_t result;
+
+  result.min = min;
+  result.max = max;
+  return result;
+}
+
+static int is_complete(volatile jr3_channel_t *channel)
+{
+  return get_s16(channel->command_word0) == 0;
+}
+ 
+typedef struct {
+  struct {
+    u16 link_type;
+    s16 link_amount;
+  } link[8];
+} transform_t;
+
+static void set_transforms(volatile jr3_channel_t *channel, 
+			   transform_t transf, 
+			   short num)
+{
+  int i;
+  
+  num &= 0x000f; // Make sure that 0 <= num <= 15
+  for (i = 0 ; i < 8 ; i++) {
+  
+    set_u16(&channel->transforms[num].link[i].link_type, 
+	    transf.link[i].link_type);
+    comedi_udelay(1);
+    set_s16(&channel->transforms[num].link[i].link_amount, 
+	    transf.link[i].link_amount);
+    comedi_udelay(1);
+    if (transf.link[i].link_type == end_x_form) {
+      break;
+    }
+  }
+}
+
+static void  use_transform(volatile jr3_channel_t *channel, 
+			   short transf_num) 
+{
+  set_s16(&channel->command_word0, 0x0500 + (transf_num & 0x000f));
+}
+
+static void use_offset(volatile jr3_channel_t *channel, short offset_num)
+{
+  set_s16(&channel->command_word0, 0x0600 + (offset_num & 0x000f));
+}
+
+static void set_offset(volatile jr3_channel_t *channel)
+{
+  set_s16(&channel->command_word0, 0x0700);
+}
+
+typedef struct {
+  s16 fx;
+  s16 fy;
+  s16 fz;
+  s16 mx;
+  s16 my;
+  s16 mz;  
+} six_axis_t;
+
+static void set_full_scales(volatile jr3_channel_t *channel, 
+			     six_axis_t full_scale)
+{
+  printk("%d %d %d %d %d %d\n",
+	 full_scale.fx,
+	 full_scale.fy,
+	 full_scale.fz,
+	 full_scale.mx,
+	 full_scale.my,
+	 full_scale.mz);
+  set_s16(&channel->full_scale.fx, full_scale.fx);
+  set_s16(&channel->full_scale.fy, full_scale.fy);
+  set_s16(&channel->full_scale.fz, full_scale.fz);
+  set_s16(&channel->full_scale.mx, full_scale.mx);
+  set_s16(&channel->full_scale.my, full_scale.my);
+  set_s16(&channel->full_scale.mz, full_scale.mz);
+  set_s16(&channel->command_word0, 0x0a00);
+}
+
+static six_axis_t get_min_full_scales(volatile jr3_channel_t *channel)
+{
+  six_axis_t result;
+  result.fx = get_s16(channel->min_full_scale.fx);
+  result.fy = get_s16(channel->min_full_scale.fy);
+  result.fz = get_s16(channel->min_full_scale.fz);
+  result.mx = get_s16(channel->min_full_scale.mx);
+  result.my = get_s16(channel->min_full_scale.my);
+  result.mz = get_s16(channel->min_full_scale.mz);
+  return result;
+}
+ 
+static six_axis_t get_max_full_scales(volatile jr3_channel_t *channel)
+{
+  six_axis_t result;
+  result.fx = get_s16(channel->max_full_scale.fx);
+  result.fy = get_s16(channel->max_full_scale.fy);
+  result.fz = get_s16(channel->max_full_scale.fz);
+  result.mx = get_s16(channel->max_full_scale.mx);
+  result.my = get_s16(channel->max_full_scale.my);
+  result.mz = get_s16(channel->max_full_scale.mz);
+  return result;
+}
+ 
+static int jr3_pci_ai_insn_read(comedi_device *dev, comedi_subdevice *s,
+				comedi_insn *insn, lsampl_t *data)
+{
+  int result;
+  jr3_pci_subdev_private *p;
+  int channel;
+
+  p = s->private;
+  channel = CR_CHAN(insn->chanspec);
+  if (p == NULL || channel > 57) {
+    result = -EINVAL;
+  } else {
+    int i;
+
+    result = insn->n;
+    if (p->state != state_jr3_done || 
+	(get_u16(p->channel->errors) & 0xe800) != 0) {
+      /* No sensor or sensor changed */
+      if (p->state == state_jr3_done) {
+	/* Restart polling */
+	p->state = state_jr3_poll;
+      }
+      result = -EAGAIN;
+    }
+    for(i = 0 ; i < insn->n ; i++){
+      if (channel < 56) {
+	int axis, filter;
+
+	axis = channel % 8;   
+	filter = channel / 8;
+	if (p->state != state_jr3_done) {
+	  data[i] = 0;
+	} else {
+	  int F = 0;
+	  switch (axis) {
+	    case 0: {
+	      F = get_s16(p->channel->filter[filter].fx);
+	    } break;
+	    case 1: {
+	      F = get_s16(p->channel->filter[filter].fy);
+	    } break;
+	    case 2: {
+	      F = get_s16(p->channel->filter[filter].fz);
+	    } break;
+	    case 3: {
+	      F = get_s16(p->channel->filter[filter].mx);
+	    } break;
+	    case 4: {
+	      F = get_s16(p->channel->filter[filter].my);
+	    } break;
+	    case 5: {
+	      F = get_s16(p->channel->filter[filter].mz);
+	    } break;
+	    case 6: {
+	      F = get_s16(p->channel->filter[filter].v1);
+	    } break;
+	    case 7: {
+	      F = get_s16(p->channel->filter[filter].v2);
+	    } break;
+	  }
+	  data[i] = F + 0x4000;
+	}
+      } else if (channel == 56) {
+	if (p->state != state_jr3_done) {
+	  data[i] = 0;
+	} else {
+	  data[i] = get_u16(p->channel->model_no);
+	}
+      } else if (channel == 57) {
+	if (p->state != state_jr3_done) {
+	  data[i] = 0;
+	} else {
+	  data[i] = get_u16(p->channel->serial_no);
+	}
+      }
+    }
+  }
+  return result;
+}
+
+static void jr3_pci_open(comedi_device *dev) 
+{
+  int i;
+  jr3_pci_dev_private *devpriv = dev->private;
+
+  printk("jr3_pci_open\n");
+  for (i = 0 ; i < devpriv->n_channels ; i++) {
+    jr3_pci_subdev_private *p;
+
+    p = dev->subdevices[i].private;
+    if (p) {
+      printk("serial: %p %d (%d)\n", p, p->serial_no, p->channel_no);
+    }
+  }
+}
+
+int read_idm_word(u8 *data, size_t size, int *pos, unsigned int *val) {
+  int result = 0;
+  if (pos != 0 && val != 0) {
+    // Skip over non hex 
+    for ( ; *pos < size && !isxdigit(data[*pos]) ; (*pos)++) {}
+    // Collect value
+    *val = 0;
+    for ( ; *pos < size && isxdigit(data[*pos]) ; (*pos)++) {
+      char ch = tolower(data[*pos]);
+      result = 1;
+      if ('0' <= ch && ch <= '9') {
+	*val = (*val << 4) + (ch - '0');
+      } else if ('a' <= ch && ch <= 'f') {
+	*val = (*val << 4) + (ch - 'a' + 10);
+      }
+    }
+  }
+  return result;
+}
+
+static int jr3_download_firmware(comedi_device *dev, 
+			   u8 *data, 
+			   size_t size)
+{
+  /*
+   * IDM file format is:
+   *   { count, address, data <count> } *
+   *   ffff
+   */
+  int result, more, pos, OK; 
+
+  result = 0;
+  more = 1;
+  pos = 0;
+  OK = 0;
+  while (more) {
+    unsigned int count, addr;
+    
+    more = more && read_idm_word(data, size, &pos, &count);
+    if (more && count == 0xffff) {
+      OK = 1;
+      break;
+    }
+    more = more && read_idm_word(data, size, &pos, &addr);
+    while (more && count > 0) {
+      unsigned int dummy;
+      more = more && read_idm_word(data, size, &pos, &dummy);
+      count--;
+    }
+  }
+
+  if (!OK) {
+    result = -ENODATA;
+  } else {
+    int i;
+    jr3_pci_dev_private *p = dev->private;
+
+    for (i = 0 ; i < p->n_channels ; i++) {
+      jr3_pci_subdev_private *sp;
+
+      sp = dev->subdevices[i].private;
+      more = 1;
+      pos = 0;
+      while (more) {
+	unsigned int count, addr;
+	more = more && read_idm_word(data, size, &pos, &count);
+	if (more && count == 0xffff) {
+	  break;
+	}
+	more = more && read_idm_word(data, size, &pos, &addr);
+	printk("Loading#%d %4.4x bytes at %4.4x\n", i, count, addr);
+	while (more && count > 0) {
+	  if (addr & 0x4000) {
+	    // 16 bit data, never seen in real life!!
+	    unsigned int data1;
+	    
+	    more = more && read_idm_word(data, size, &pos, &data1);
+	    count--;
+	    // printk("jr3_data, not tested\n");
+	    //        jr3[addr + 0x20000 * pnum] = data1;
+	  } else {
+	    //  Download 24 bit program 
+	    unsigned int data1, data2;
+	    
+	    more = more && read_idm_word(data, size, &pos, &data1);
+	    more = more && read_idm_word(data, size, &pos, &data2);
+	    count -= 2;
+	    if (more) {
+	      set_u16(&p->iobase->channel[i].program_low[addr], data1);
+	      comedi_udelay(1);
+	      set_u16(&p->iobase->channel[i].program_high[addr], data2);
+	      comedi_udelay(1);
+	      
+	    }
+	  }
+	  addr++;
+	}
+      }
+    }  
+  }
+  return result;
+}
+
+static poll_delay_t jr3_pci_poll_subdevice(comedi_subdevice *s)
+{
+  poll_delay_t result = poll_delay_min_max(1000, 2000);
+  jr3_pci_subdev_private *p = s->private;
+
+  if (p) {
+    volatile jr3_channel_t *channel = p->channel;
+    int errors = get_u16(channel->errors);
+    
+    if (errors != p->errors) {
+      printk("Errors: %x -> %x\n", p->errors, errors);
+      p->errors = errors;
+    }
+    if ((errors & 0xe800) != 0) {
+      // Sensor communication lost, force poll mode
+      p->state = state_jr3_poll;
+      
+    }
+    switch (p->state) {
+      case state_jr3_poll: {
+	u16 model_no = get_u16(channel->model_no);
+	u16 serial_no = get_u16(channel->serial_no);
+	if ((errors & 0xe000) != 0 || model_no == 0 || serial_no == 0) {
+	  // Still no sensor, keep on polling. Since it takes up to 
+	  // 10 seconds for offsets to stabilize, polling each
+	  // second should suffice.
+	  result = poll_delay_min_max(1000, 2000);
+	} else {
+	  p->retries = 0;
+	  p->state = state_jr3_init_wait_for_offset;
+	  result = poll_delay_min_max(1000, 2000);
+	} 
+      } break;
+      case state_jr3_init_wait_for_offset: {
+	p->retries++;
+	if (p->retries < 10) {
+	  // Wait for offeset to stabilize (< 10 s according to manual)
+	  result = poll_delay_min_max(1000, 2000);
+	} else {
+	  transform_t transf;
+  
+	  p->model_no = get_u16(channel->model_no);
+	  p->serial_no = get_u16(channel->serial_no);
+
+	  printk("Setting transform for channel %d\n", p->channel_no);
+	  printk("Sensor Model     = %i\n", p->model_no);
+	  printk("Sensor Serial    = %i\n", p->serial_no);
+
+	  // Transformation all zeros
+	  transf.link[0].link_type=(enum link_types)0;
+	  transf.link[0].link_amount=0;
+	  transf.link[1].link_type=(enum link_types)0;
+	  transf.link[1].link_amount=0;
+	  transf.link[2].link_type=(enum link_types)0;
+	  transf.link[2].link_amount=0;
+	  transf.link[3].link_type=(enum link_types)0;
+	  transf.link[3].link_amount=0;
+
+	  set_transforms(channel, transf, 0);
+	  use_transform(channel, 0);
+	  p->state = state_jr3_init_transform_complete;
+	  result = poll_delay_min_max(20, 100); // Allow 20 ms for completion
+	}	
+      } break;
+      case state_jr3_init_transform_complete: {
+	if (! is_complete(channel)) {
+	  printk("state_jr3_init_transform_complete complete = %d\n", 
+		 is_complete(channel));
+	  result = poll_delay_min_max(20, 100);
+	} else {
+	  // Set full scale
+	  six_axis_t min_full_scale;
+	  six_axis_t max_full_scale;
+	  
+	  min_full_scale = get_min_full_scales(channel);
+	  printk("Obtained Min. Full Scales:\n");
+	  printk("%i   ", (min_full_scale).fx);
+	  printk("%i   ", (min_full_scale).fy);
+	  printk("%i   ", (min_full_scale).fz);
+	  printk("%i   ", (min_full_scale).mx);
+	  printk("%i   ", (min_full_scale).my);
+	  printk("%i   ", (min_full_scale).mz);
+	  printk("\n");
+	  
+	  
+	  max_full_scale = get_max_full_scales(channel);
+	  printk("Obtained Max. Full Scales:\n");
+	  printk("%i   ", (max_full_scale).fx);
+	  printk("%i   ", (max_full_scale).fy);
+	  printk("%i   ", (max_full_scale).fz);
+	  printk("%i   ", (max_full_scale).mx);
+	  printk("%i   ", (max_full_scale).my);
+	  printk("%i   ", (max_full_scale).mz);
+	  printk("\n");
+
+	  set_full_scales(channel, max_full_scale);
+
+	  p->state = state_jr3_init_set_full_scale_complete;
+	  result = poll_delay_min_max(20, 100); // Allow 20 ms for completion
+	}
+      } break;
+      case state_jr3_init_set_full_scale_complete: {
+	if (! is_complete(channel)) {
+	  printk("state_jr3_init_set_full_scale_complete complete = %d\n", 
+		 is_complete(channel));
+	  result = poll_delay_min_max(20, 100);
+	} else {
+	  volatile force_array_t *full_scale;
+
+	  // Use ranges in kN or we will overflow arount 2000N!
+	  full_scale = &channel->full_scale;
+	  p->range[0].range.min = -get_s16(full_scale->fx) * 1000;
+	  p->range[0].range.max =  get_s16(full_scale->fx) * 1000;
+	  p->range[1].range.min = -get_s16(full_scale->fy) * 1000;
+	  p->range[1].range.max =  get_s16(full_scale->fy) * 1000;
+	  p->range[2].range.min = -get_s16(full_scale->fz) * 1000;
+	  p->range[2].range.max =  get_s16(full_scale->fz) * 1000;
+	  p->range[3].range.min = -get_s16(full_scale->mx) * 100;
+	  p->range[3].range.max =  get_s16(full_scale->mx) * 100;
+	  p->range[4].range.min = -get_s16(full_scale->my) * 100;
+	  p->range[4].range.max =  get_s16(full_scale->my) * 100;
+	  p->range[5].range.min = -get_s16(full_scale->mz) * 100;
+	  p->range[5].range.max =  get_s16(full_scale->mz) * 100;
+	  p->range[6].range.min = -get_s16(full_scale->v1) * 100; // ??
+	  p->range[6].range.max =  get_s16(full_scale->v1) * 100; // ??
+	  p->range[7].range.min = -get_s16(full_scale->v2) * 100; // ??
+	  p->range[7].range.max =  get_s16(full_scale->v2) * 100; // ??
+	  p->range[8].range.min = 0;
+	  p->range[8].range.max = 65535;
+
+	  {
+	    int i;
+	    for (i = 0 ; i < 9 ; i++) {
+	      printk("%d %d - %d\n", 
+		     i,  p->range[i].range.min, p->range[i].range.max);
+	    }
+	  }
+
+	  use_offset(channel, 0);
+	  p->state = state_jr3_init_use_offset_complete;
+	  result = poll_delay_min_max(40, 100); // Allow 40 ms for completion
+	}
+      } break;
+      case state_jr3_init_use_offset_complete: {
+	if (! is_complete(channel)) {
+	  printk("state_jr3_init_use_offset_complete complete = %d\n", 
+		 is_complete(channel));
+	  result = poll_delay_min_max(20, 100);
+	} else {
+	  printk("Default offsets %d %d %d %d %d %d\n",
+		 get_s16(channel->offsets.fx),
+		 get_s16(channel->offsets.fy),
+		 get_s16(channel->offsets.fz),
+		 get_s16(channel->offsets.mx),
+		 get_s16(channel->offsets.my),
+		 get_s16(channel->offsets.mz));
+
+	  set_s16(&channel->offsets.fx, 0);
+	  set_s16(&channel->offsets.fy, 0);
+	  set_s16(&channel->offsets.fz, 0);
+	  set_s16(&channel->offsets.mx, 0);
+	  set_s16(&channel->offsets.my, 0);
+	  set_s16(&channel->offsets.mz, 0);
+
+	  set_offset(channel);
+
+	  p->state = state_jr3_done;
+  	}
+      } break;
+      case state_jr3_done: {
+	poll_delay_min_max(10000, 20000);
+      } break;
+      default: {
+	poll_delay_min_max(1000, 2000);
+      } break;
+    }
+  }
+  return result;
+}
+
+static void jr3_pci_poll_dev(unsigned long data)
+{
+  unsigned long flags;
+  comedi_device *dev = (comedi_device*)data;
+  jr3_pci_dev_private *devpriv = dev->private;
+  unsigned long now;
+  int delay;
+  int i;
+
+  comedi_spin_lock_irqsave(&dev->spinlock, flags);
+  delay = 1000;
+  now = jiffies;
+  // Poll all channels that are ready to be polled
+  for (i = 0 ; i < devpriv->n_channels ;i++) {
+    jr3_pci_subdev_private *subdevpriv = dev->subdevices[i].private;
+    if (now > subdevpriv->next_time_min) {
+      poll_delay_t sub_delay;
+
+      sub_delay = jr3_pci_poll_subdevice(&dev->subdevices[i]);
+      subdevpriv->next_time_min = jiffies + msecs_to_jiffies(sub_delay.min);
+      subdevpriv->next_time_max = jiffies + msecs_to_jiffies(sub_delay.max);
+      if (sub_delay.max && sub_delay.max < delay) {
+	// Wake up as late as possible -> poll as many channels as 
+	// possible at once
+	delay = sub_delay.max;
+      }
+    }
+  }
+  comedi_spin_unlock_irqrestore(&dev->spinlock, flags);
+
+  devpriv->timer.expires = jiffies + msecs_to_jiffies(delay);
+  add_timer (&devpriv->timer);
+}
+
+static int jr3_pci_attach(comedi_device *dev, comedi_devconfig *it)
+{
+  int result = 0;
+  struct pci_dev *card = NULL;
+  int opt_bus, opt_slot, i;
+  jr3_pci_dev_private *devpriv;
+       
+  printk("comedi%d: jr3_pci\n", dev->minor);
+	
+  opt_bus = it->options[0];
+  opt_slot = it->options[1];
+
+  if (sizeof(jr3_channel_t) != 0xc00) {
+    printk("sizeof(jr3_channel_t) = %x [expected %x]\n", 
+	   sizeof(jr3_channel_t), 0xc00);
+    return -EINVAL;
+  }
+
+  result = alloc_private(dev, sizeof(jr3_pci_dev_private));
+  if(result < 0){
+    return -ENOMEM;
+  }
+  card = NULL;
+  devpriv = dev->private;
+  init_timer (&devpriv->timer);
+  while(1) {
+    card = pci_get_device(PCI_VENDOR_ID_JR3, PCI_ANY_ID, card);
+    if (card == NULL) {
+      /* No card found */
+      break;
+    } else {
+      switch(card->device) {
+	case PCI_DEVICE_ID_JR3_1_CHANNEL: {
+	  devpriv->n_channels = 1;
+	} break;
+	case PCI_DEVICE_ID_JR3_2_CHANNEL: {
+	  devpriv->n_channels = 2;
+	} break;
+	case PCI_DEVICE_ID_JR3_3_CHANNEL: {
+	  devpriv->n_channels = 3;
+	} break;
+	case PCI_DEVICE_ID_JR3_4_CHANNEL: {
+	  devpriv->n_channels = 4;
+	} break;
+	default: {
+	  devpriv->n_channels = 0;
+	}
+      }
+      if (devpriv->n_channels >= 1) {
+	if (opt_bus == 0 && opt_slot == 0) {
+	  /* Take first available card */
+	  break;
+	} else if (opt_bus == card->bus->number && 
+		   opt_slot == PCI_SLOT(card->devfn)) {
+	  /* Take requested card */
+	  break;
+	}
+      }
+    }
+  }
+  if (!card) {
+    printk(" no jr3_pci found\n");
+    return -EIO;
+  }else{
+    devpriv->pci_dev = card;
+    dev->board_name = "jr3_pci";
+  }
+  if((result = pci_enable_device(card))<0){
+    return -EIO;
+  }
+  if((result = pci_request_regions(card, "jr3_pci")) < 0) {
+    return -EIO;	
+  }
+  devpriv->iobase = ioremap(pci_resource_start(card,0), sizeof(jr3_t));
+  result = alloc_subdevices(dev, devpriv->n_channels);
+  if(result < 0) goto out;
+  
+  dev->open = jr3_pci_open;
+  for (i = 0 ; i < devpriv->n_channels ; i++) {
+    dev->subdevices[i].type = COMEDI_SUBD_AI;
+    dev->subdevices[i].subdev_flags = SDF_READABLE|SDF_GROUND;
+    dev->subdevices[i].n_chan = 8 * 7 + 2;
+    dev->subdevices[i].insn_read = jr3_pci_ai_insn_read;
+    dev->subdevices[i].private = kmalloc(sizeof(jr3_pci_subdev_private), 
+					 GFP_KERNEL);
+    if (dev->subdevices[i].private) {
+      jr3_pci_subdev_private *p;
+      int j;
+
+      p = dev->subdevices[i].private;
+      memset(p, 0, sizeof(*p));
+      p->channel = &devpriv->iobase->channel[i].data;
+      printk("p->channel %p %p (%x)\n",
+	     p->channel, devpriv->iobase, 
+	     (int)(p->channel) - (int)(devpriv->iobase));
+      p->channel_no = i;
+      for (j = 0 ; j < 8 ; j++) {
+	int k;
+
+	p->range[j].length = 1;
+	p->range[j].range.min = -1000000;
+	p->range[j].range.max = 1000000;
+	for (k = 0 ; k < 7 ; k++) {
+	  p->range_table_list[j + k * 8] = (comedi_lrange*)&p->range[j];
+	  p->maxdata_list[j + k * 8] = 0x7fff;
+	}
+      }
+      p->range[8].length = 1;
+      p->range[8].range.min = 0;
+      p->range[8].range.max = 65536;
+
+      p->range_table_list[56] = (comedi_lrange*)&p->range[8];
+      p->range_table_list[57] = (comedi_lrange*)&p->range[8];
+      p->maxdata_list[56] = 0xffff;
+      p->maxdata_list[57] = 0xffff;
+      // Channel specific range and maxdata
+      dev->subdevices[i].range_table = 0;
+      dev->subdevices[i].range_table_list = p->range_table_list;
+      dev->subdevices[i].maxdata = 0;
+      dev->subdevices[i].maxdata_list = p->maxdata_list;
+    }
+  }
+
+  // Reset DSP card
+  devpriv->iobase->channel[0].reset = 0;
+  
+  result = comedi_load_firmware(dev, "jr3pci.idm", jr3_download_firmware);
+  printk("Firmare load %d\n", result);
+      
+  if (result < 0) {
+    goto out;
+  }
+
+  // TODO: use firmware to load preferred offset tables. Suggested format:
+  // model serial Fx Fy Fz Mx My Mz\n
+  // 
+  // comedi_load_firmware(dev, "jr3_offsets_table", jr3_download_firmware);
+  
+  // It takes a few milliseconds for software to settle
+  // as much as we can read firmware version
+  msleep_interruptible(25);
+  for (i=0 ; i < 0x18 ; i++){
+    printk("%c", get_u16(devpriv->iobase->channel[0].data.copyright[i])>>8);
+  }
+
+  // Start card timer
+  for (i = 0 ; i < devpriv->n_channels ; i++) {
+    jr3_pci_subdev_private *p = dev->subdevices[i].private;
+
+    p->next_time_min = jiffies + msecs_to_jiffies(500);
+    p->next_time_max = jiffies + msecs_to_jiffies(2000);
+  }
+
+  devpriv->timer.data = (unsigned long)dev;
+  devpriv->timer.function = jr3_pci_poll_dev;
+  devpriv->timer.expires = jiffies + msecs_to_jiffies(1000);
+  add_timer(&devpriv->timer);
+
+  out:
+  return result;
+}
+
+static int jr3_pci_detach(comedi_device * dev)
+{
+  int i;
+  jr3_pci_dev_private *devpriv = dev->private;
+
+  printk("comedi%d: jr3_pci: remove\n", dev->minor);
+  if (devpriv) {
+    del_timer_sync(&devpriv->timer);
+
+    if (dev->subdevices) {
+      for (i = 0 ; i < devpriv->n_channels ;i++) {
+	kfree(dev->subdevices[i].private);
+      }
+    }
+
+    if(devpriv->iobase) {
+      iounmap((void*)devpriv->iobase);
+
+      pci_release_regions(devpriv->pci_dev);
+      pci_disable_device(devpriv->pci_dev);
+    }
+
+    if (devpriv->pci_dev) {
+      pci_dev_put(devpriv->pci_dev);
+    }
+  }
+  return 0;
+}
+
+COMEDI_INITCLEANUP(driver_jr3_pci);
+


diff -urbN --exclude '*.ko' --exclude '*.cache' --exclude '*.cmd' --exclude '*.o' --exclude '*.mod.c' --exclude '*~' comedi.orig/comedi/drivers/jr3_pci.h comedi/comedi/drivers/jr3_pci.h
--- comedi.orig/comedi/drivers/jr3_pci.h	1970-01-01 01:00:00.000000000 +0100
+++ comedi/comedi/drivers/jr3_pci.h	2007-06-28 17:40:26.000000000 +0200
_at__at_ -0,0 +1,619 _at__at_
+// Helper types to take care of the fact that the DSP card memory
+//   is 16 bits, but aligned on a 32 bit PCI boundary
+typedef union {
+  u8 as_u8;
+  u16 as_u16;
+  u32 as_u32;
+} u_val_t;
+
+typedef union {
+  s8 as_s8;
+  s16 as_s16;
+  s32 as_s32;
+} s_val_t;
+
+static inline u16 get_u16(volatile u_val_t val) 
+{
+  u_val_t tmp;
+  tmp.as_u32 = le32_to_cpu(val.as_u32);
+  return tmp.as_u16;
+} 
+
+static inline void set_u16(volatile u_val_t *p, u16 val) 
+{
+  u_val_t tmp;
+  tmp.as_u16 = val;
+  p->as_u32 = cpu_to_le32(tmp.as_u32);
+} 
+
+static inline s16 get_s16(volatile s_val_t val) 
+{
+  s_val_t tmp;
+  tmp.as_s32 = le32_to_cpu(val.as_s32);
+  return tmp.as_s16;
+} 
+
+static inline void set_s16(volatile s_val_t *p, s16 val) 
+{
+  s_val_t tmp;
+  tmp.as_s16 = val;
+  p->as_s32 = cpu_to_le32(tmp.as_s32);
+} 
+
+// The raw data is stored in a format which facilitates rapid
+// processing by the JR3 DSP chip. The raw_channel structure shows the
+// format for a single channel of data. Each channel takes four,
+// two-byte words. 
+//
+// Raw_time is an unsigned integer which shows the value of the JR3
+// DSP's internal clock at the time the sample was received. The clock
+// runs at 1/10 the JR3 DSP cycle time. JR3's slowest DSP runs at 10
+// Mhz. At 10 Mhz raw_time would therefore clock at 1 Mhz.
+// 
+// Raw_data is the raw data received directly from the sensor. The
+// sensor data stream is capable of representing 16 different
+// channels. Channel 0 shows the excitation voltage at the sensor. It
+// is used to regulate the voltage over various cable lengths.
+// Channels 1-6 contain the coupled force data Fx through Mz. Channel
+// 7 contains the sensor's calibration data. The use of channels 8-15
+// varies with different sensors.
+typedef struct raw_channel
+{
+  u_val_t raw_time;
+  s_val_t raw_data;
+  s_val_t reserved[2];
+} raw_channel_t;
+
+// The force_array structure shows the layout for the decoupled and
+// filtered force data.
+typedef struct force_array
+{
+  s_val_t fx;
+  s_val_t fy;
+  s_val_t fz;
+  s_val_t mx;
+  s_val_t my;
+  s_val_t mz;
+  s_val_t v1;
+  s_val_t v2;
+} force_array_t;
+
+// The six_axis_array structure shows the layout for the offsets and
+// the full scales.
+typedef struct six_axis_array
+{
+  s_val_t fx;
+  s_val_t fy;
+  s_val_t fz;
+  s_val_t mx;
+  s_val_t my;
+  s_val_t mz;
+} six_axis_array_t;
+
+// VECT_BITS
+// Indicates which axis are to be used when computing the vectors. A vector
+// is composed by 3 components and its "magnitude" is placed in V1 and V2.
+// V1 defaults to a force vector and V2 defaults to a moment vector.
+// Setting changeV1 or changeV2 will change that vector to be the opposite of
+// its default.
+
+// *** Check this norby ***
+// This is badly defined at JR3 Manual. Correct definition follows:
+typedef struct vect_bits
+{
+ unsigned fx : 1;
+ unsigned fy : 1;
+ unsigned fz : 1;
+ unsigned mx : 1;
+ unsigned my : 1;
+ unsigned mz : 1;
+ unsigned changeV1 : 1;
+ unsigned changeV2 : 1;
+ unsigned reserved : 8;
+} vect_bits;
+
+// WARNINGS
+// Bit pattern for the warning word: xx_near_sat means that a near saturation
+// has been reached or exceeded.
+typedef struct warning_bits
+{
+ unsigned fx_near_sat : 1;
+ unsigned fy_near_sat : 1;
+ unsigned fz_near_sat : 1;
+ unsigned mx_near_sat : 1;
+ unsigned my_near_sat : 1;
+ unsigned mz_near_sat : 1;
+ unsigned reserved : 10;
+} warning_bits;
+
+// ERROR_BITS
+// Bit pattern for the error word:
+// 1. xx_sat means that a near saturation has been reached or exceeded.
+// 2. memory_error indicates RAM memory error during power up.
+// 3. sensor_change indicates that the sensor plugged in (different from the
+//    original one) has passed CRC check. The user must reset this bit.
+// 4. system_busyindicates system busy: transf. change, new full scale or new
+//    sennsor plugged in.
+// 5. cal_crc_bad means that it was a problem transmiting the calibration data
+//    stored inside the sensor. If this bit does not come to zero 2s after the
+//    sensor has been plugged in, there is a problem with the sensor's calibra-
+//    tion data.
+// 6. watch_dog2 indicates that sensor data and clock are being received.
+// 7. watch_dog indicates that data line seems to be acting correctly.
+// If either watch dog barks, the sensor data is not beig receive correctly.
+#if 0
+typedef struct error_bits
+{
+ unsigned fx_sat : 1;
+ unsigned fy_sat : 1;
+ unsigned fz_sat : 1;
+ unsigned mx_sat : 1;
+ unsigned my_sat : 1;
+ unsigned mz_sat : 1;
+ unsigned reserved : 4;
+ unsigned memory_error : 1;
+ unsigned sensor_change : 1;
+ unsigned system_busy : 1;
+ unsigned cal_crc_bad : 1;
+ unsigned watch_dog2 : 1;
+ unsigned watch_dog : 1;
+} error_bits;
+#endif
+
+// THRESH_STRUCT
+// This structure shows the layout for a single threshold packet inside of a
+// load envelope. Each load envelope can contain several threshold structures.
+// 1. data_address contains the address of the data for that threshold. This
+//    includes filtered, unfiltered, raw, rate, counters, error and warning data
+// 2. threshold is the is the value at which, if data is above or below, the
+//    bits will be set ... (pag.24).
+// 3. bit_pattern contains the bits that will be set if the threshold value is
+//    met or exceeded.
+typedef struct thresh_struct
+{
+ s32 data_address;
+ s32 threshold;
+ s32 bit_pattern;
+} thresh_struct;
+
+// LE_STRUCT
+// Layout of a load enveloped packet. Four thresholds are showed ... for more
+// see manual (pag.25)
+// 1. latch_bits is a bit pattern that show which bits the user wants to latch.
+//    The latched bits will not be reset once the threshold which set them is
+//    no longer true. In that case the user must reset them using the reset_bit
+//    command.
+// 2. number_of_xx_thresholds specify how many GE/LE threshold there are.
+typedef struct {
+ s32 latch_bits;
+ s32 number_of_ge_thresholds;
+ s32 number_of_le_thresholds;
+ struct thresh_struct thresholds[4];
+ s32 reserved;
+} le_struct_t;
+
+// LINK_TYPES
+// Link types is an enumerated value showing the different possible transform
+// link types.
+// 0 - end transform packet
+// 1 - translate along X axis (TX)
+// 2 - translate along Y axis (TY)
+// 3 - translate along Z axis (TZ)
+// 4 - rotate about X axis (RX)
+// 5 - rotate about Y axis (RY)
+// 6 - rotate about Z axis (RZ)
+// 7 - negate all axes (NEG)
+typedef enum link_types
+{
+ end_x_form,
+ tx,
+ ty,
+ tz,
+ rx,
+ ry,
+ rz,
+ neg
+} link_types;
+
+// TRANSFORM
+// Structure used to describe a transform.
+typedef struct {
+  struct {
+    u_val_t link_type;
+    s_val_t link_amount;
+  } link[8];
+} intern_transform_t;
+
+// JR3 force/torque sensor data definition. For more information see sensor and
+// hardware manuals.
+
+typedef struct force_sensor_data
+{
+  // Raw_channels is the area used to store the raw data coming from
+  // the sensor.
+
+  raw_channel_t raw_channels[16]; 			/* offset 0x0000 */ 
+
+  // Copyright is a null terminated ASCII string containing the JR3
+  // copyright notice.
+
+  u_val_t copyright[0x0018];				/* offset 0x0040 */
+  s_val_t reserved1[0x0008];				/* offset 0x0058 */
+
+  // Shunts contains the sensor shunt readings. Some JR3 sensors have
+  //  the ability to have their gains adjusted. This allows the
+  //  hardware full scales to be adjusted to potentially allow
+  //  better resolution or dynamic range. For sensors that have
+  //  this ability, the gain of each sensor channel is measured at
+  //  the time of calibration using a shunt resistor. The shunt
+  //  resistor is placed across one arm of the resistor bridge, and
+  //  the resulting change in the output of that channel is
+  //  measured. This measurement is called the shunt reading, and
+  //  is recorded here. If the user has changed the gain of the //
+  // sensor, and made new shunt measurements, those shunt
+  //  measurements can be placed here. The JR3 DSP will then scale
+  //  the calibration matrix such so that the gains are again
+  //  proper for the indicated shunt readings. If shunts is 0, then
+  //  the sensor cannot have its gain changed. For details on
+  //  changing the sensor gain, and making shunts readings, please
+  //  see the sensor manual. To make these values take effect the
+  //  user must call either command (5) use transform # (pg. 33) or
+  //  command (10) set new full scales (pg. 38).
+
+  six_axis_array_t shunts; 				/* offset 0x0060 */
+  s32 reserved2[2]; 					/* offset 0x0066 */
+
+  // Default_FS contains the full scale that is used if the user does
+  // not set a full scale.
+
+  six_axis_array_t default_FS;  			/* offset 0x0068 */
+  s_val_t reserved3;  					/* offset 0x006e */
+
+  // Load_envelope_num is the load envelope number that is currently
+  // in use. This value is set by the user after one of the load
+  // envelopes has been initialized.
+
+  s_val_t load_envelope_num;   			/* offset 0x006f */
+  
+  // Min_full_scale is the recommend minimum full scale.
+  //
+  // These values in conjunction with max_full_scale (pg. 9) helps
+  // determine the appropriate value for setting the full scales. The
+  // software allows the user to set the sensor full scale to an
+  // arbitrary value. But setting the full scales has some hazards. If
+  // the full scale is set too low, the data will saturate
+  // prematurely, and dynamic range will be lost. If the full scale is
+  // set too high, then resolution is lost as the data is shifted to
+  // the right and the least significant bits are lost. Therefore the
+  // maximum full scale is the maximum value at which no resolution is
+  // lost, and the minimum full scale is the value at which the data
+  // will not saturate prematurely. These values are calculated
+  // whenever a new coordinate transformation is calculated. It is
+  // possible for the recommended maximum to be less than the
+  // recommended minimum. This comes about primarily when using
+  // coordinate translations. If this is the case, it means that any
+  // full scale selection will be a compromise between dynamic range
+  // and resolution. It is usually recommended to compromise in favor
+  // of resolution which means that the recommend maximum full scale
+  // should be chosen.
+  //
+  // WARNING: Be sure that the full scale is no less than 0.4% of the
+  // recommended minimum full scale. Full scales below this value will
+  // cause erroneous results.
+
+  six_axis_array_t min_full_scale; 			/* offset 0x0070 */
+  s_val_t reserved4; 					/* offset 0x0076 */
+
+  // Transform_num is the transform number that is currently in use.
+  // This value is set by the JR3 DSP after the user has used command
+  // (5) use transform # (pg. 33).
+
+  s_val_t transform_num; 				/* offset 0x0077 */
+
+  // Max_full_scale is the recommended maximum full scale. See
+  // min_full_scale (pg. 9) for more details.
+
+  six_axis_array_t max_full_scale; 			/* offset 0x0078 */
+  s_val_t reserved5;					/* offset 0x007e */
+
+  // Peak_address is the address of the data which will be monitored
+  // by the peak routine. This value is set by the user. The peak
+  // routine will monitor any 8 contiguous addresses for peak values.
+  // (ex. to watch filter3 data for peaks, set this value to 0x00a8).
+
+  s_val_t peak_address; 				/* offset 0x007f */
+
+  // Full_scale is the sensor full scales which are currently in use.
+  // Decoupled and filtered data is scaled so that +/- 16384 is equal
+  // to the full scales. The engineering units used are indicated by
+  // the units value discussed on page 16. The full scales for Fx, Fy,
+  // Fz, Mx, My and Mz can be written by the user prior to calling
+  // command (10) set new full scales (pg. 38). The full scales for V1
+  // and V2 are set whenever the full scales are changed or when the
+  // axes used to calculate the vectors are changed. The full scale of
+  // V1 and V2 will always be equal to the largest full scale of the
+  // axes used for each vector respectively.
+
+  force_array_t full_scale;  				/* offset 0x0080 */
+
+  // Offsets contains the sensor offsets. These values are subtracted from 
+  // the sensor data to obtain the decoupled data. The offsets are set a 
+  // few seconds (< 10) after the calibration data has been received.
+  // They are set so that the output data will be zero. These values
+  // can be written as well as read. The JR3 DSP will use the values
+  // written here within 2 ms of being written. To set future
+  // decoupled data to zero, add these values to the current decoupled
+  // data values and place the sum here. The JR3 DSP will change these
+  // values when a new transform is applied. So if the offsets are
+  // such that FX is 5 and all other values are zero, after rotating
+  // about Z by 90 degrees, FY would be 5 and all others would be zero.
+
+  six_axis_array_t offsets; 				/* offset 0x0088 */  
+  
+  // Offset_num is the number of the offset currently in use. This
+  // value is set by the JR3 DSP after the user has executed the use
+  // offset # command (pg. 34). It can vary between 0 and 15.
+
+  s_val_t offset_num; 					/* offset 0x008e */
+
+  // Vect_axes is a bit map showing which of the axes are being used
+  // in the vector calculations. This value is set by the JR3 DSP
+  // after the user has executed the set vector axes command (pg. 37).
+
+  u_val_t vect_axes; 					/* offset 0x008f */
+
+  // Filter0 is the decoupled, unfiltered data from the JR3 sensor.
+  // This data has had the offsets removed.
+  //
+  // These force_arrays hold the filtered data. The decoupled data is
+  // passed through cascaded low pass filters. Each succeeding filter
+  // has a cutoff frequency of 1/4 of the preceding filter. The cutoff
+  // frequency of filter1 is 1/16 of the sample rate from the sensor.
+  // For a typical sensor with a sample rate of 8 kHz, the cutoff
+  // frequency of filter1 would be 500 Hz. The following filters would
+  // cutoff at 125 Hz, 31.25 Hz, 7.813 Hz, 1.953 Hz and 0.4883 Hz.
+
+  struct force_array filter[7];				/* offset 0x0090, 
+							   offset 0x0098, 
+							   offset 0x00a0, 
+							   offset 0x00a8, 
+							   offset 0x00b0, 
+							   offset 0x00b8 , 
+							   offset 0x00c0 */
+
+  // Rate_data is the calculated rate data. It is a first derivative
+  // calculation. It is calculated at a frequency specified by the
+  // variable rate_divisor (pg. 12). The data on which the rate is
+  // calculated is specified by the variable rate_address (pg. 12).
+
+  force_array_t rate_data; 				/* offset 0x00c8 */
+  
+  // Minimum_data & maximum_data are the minimum and maximum (peak)
+  // data values. The JR3 DSP can monitor any 8 contiguous data items
+  // for minimums and maximums at full sensor bandwidth. This area is
+  // only updated at user request. This is done so that the user does
+  // not miss any peaks. To read the data, use either the read peaks
+  // command (pg. 40), or the read and reset peaks command (pg. 39).
+  // The address of the data to watch for peaks is stored in the
+  // variable peak_address (pg. 10). Peak data is lost when executing
+  // a coordinate transformation or a full scale change. Peak data is
+  // also lost when plugging in a new sensor.
+
+  force_array_t minimum_data; 				/* offset 0x00d0 */
+  force_array_t maximum_data; 				/* offset 0x00d8 */
+
+  // Near_sat_value & sat_value contain the value used to determine if
+  // the raw sensor is saturated. Because of decoupling and offset
+  // removal, it is difficult to tell from the processed data if the
+  // sensor is saturated. These values, in conjunction with the error
+  // and warning words (pg. 14), provide this critical information.
+  // These two values may be set by the host processor. These values
+  // are positive signed values, since the saturation logic uses the
+  // absolute values of the raw data. The near_sat_value defaults to
+  // approximately 80% of the ADC's full scale, which is 26214, while
+  // sat_value defaults to the ADC's full scale: 
+  // 
+  //   sat_value = 32768 - 2^(16 - ADC bits)
+
+
+  s_val_t near_sat_value; 				/* offset 0x00e0 */
+  s_val_t sat_value;  					/* offset 0x00e1 */
+
+  // Rate_address, rate_divisor & rate_count contain the data used to
+  // control the calculations of the rates. Rate_address is the
+  // address of the data used for the rate calculation. The JR3 DSP
+  // will calculate rates for any 8 contiguous values (ex. to
+  // calculate rates for filter3 data set rate_address to 0x00a8).
+  // Rate_divisor is how often the rate is calculated. If rate_divisor
+  // is 1, the rates are calculated at full sensor bandwidth. If
+  // rate_divisor is 200, rates are calculated every 200 samples.
+  // Rate_divisor can be any value between 1 and 65536. Set
+  // rate_divisor to 0 to calculate rates every 65536 samples.
+  // Rate_count starts at zero and counts until it equals
+  // rate_divisor, at which point the rates are calculated, and
+  // rate_count is reset to 0. When setting a new rate divisor, it is
+  // a good idea to set rate_count to one less than rate divisor. This
+  // will minimize the time necessary to start the rate calculations.
+
+  s_val_t rate_address;  				/* offset 0x00e2 */
+  u_val_t rate_divisor;  				/* offset 0x00e3 */
+  u_val_t rate_count;  					/* offset 0x00e4 */
+
+  // Command_word2 through command_word0 are the locations used to
+  // send commands to the JR3 DSP. Their usage varies with the command
+  // and is detailed later in the Command Definitions section (pg.
+  // 29). In general the user places values into various memory
+  // locations, and then places the command word into command_word0.
+  // The JR3 DSP will process the command and place a 0 into
+  // command_word0 to indicate successful completion. Alternatively
+  // the JR3 DSP will place a negative number into command_word0 to
+  // indicate an error condition. Please note the command locations
+  // are numbered backwards. (I.E. command_word2 comes before
+  // command_word1).
+
+  s_val_t command_word2;  				/* offset 0x00e5 */
+  s_val_t command_word1;  				/* offset 0x00e6 */
+  s_val_t command_word0;  				/* offset 0x00e7 */
+
+  // Count1 through count6 are unsigned counters which are incremented
+  // every time the matching filters are calculated. Filter1 is
+  // calculated at the sensor data bandwidth. So this counter would
+  // increment at 8 kHz for a typical sensor. The rest of the counters
+  // are incremented at 1/4 the interval of the counter immediately
+  // preceding it, so they would count at 2 kHz, 500 Hz, 125 Hz etc.
+  // These counters can be used to wait for data. Each time the
+  // counter changes, the corresponding data set can be sampled, and
+  // this will insure that the user gets each sample, once, and only
+  // once.
+
+  u_val_t count1;  					/* offset 0x00e8 */
+  u_val_t count2;  					/* offset 0x00e9 */
+  u_val_t count3;  					/* offset 0x00ea */
+  u_val_t count4;  					/* offset 0x00eb */
+  u_val_t count5;  					/* offset 0x00ec */
+  u_val_t count6;  					/* offset 0x00ed */
+
+  // Error_count is a running count of data reception errors. If this
+  // counter is changing rapidly, it probably indicates a bad sensor
+  // cable connection or other hardware problem. In most installations
+  // error_count should not change at all. But it is possible in an
+  // extremely noisy environment to experience occasional errors even
+  // without a hardware problem. If the sensor is well grounded, this
+  // is probably unavoidable in these environments. On the occasions
+  // where this counter counts a bad sample, that sample is ignored.
+
+  u_val_t error_count;	  				/* offset 0x00ee */
+
+
+  // Count_x is a counter which is incremented every time the JR3 DSP
+  // searches its job queues and finds nothing to do. It indicates the
+  // amount of idle time the JR3 DSP has available. It can also be
+  // used to determine if the JR3 DSP is alive. See the Performance
+  // Issues section on pg. 49 for more details.
+
+  u_val_t count_x;	  				/* offset 0x00ef */
+
+  // Warnings & errors contain the warning and error bits
+  // respectively. The format of these two words is discussed on page
+  // 21 under the headings warnings_bits and error_bits.
+
+  u_val_t warnings;	  				/* offset 0x00f0 */
+  u_val_t errors;	  				/* offset 0x00f1 */
+
+  // Threshold_bits is a word containing the bits that are set by the
+  // load envelopes. See load_envelopes (pg. 17) and thresh_struct
+  // (pg. 23) for more details.
+  
+  s_val_t threshold_bits;	  			/* offset 0x00f2 */
+
+  // Last_crc is the value that shows the actual calculated CRC. CRC
+  // is short for cyclic redundancy code. It should be zero. See the
+  // description for cal_crc_bad (pg. 21) for more information.
+  
+  s_val_t last_CRC;	  				/* offset 0x00f3 */
+
+  // EEProm_ver_no contains the version number of the sensor EEProm.
+  // EEProm version numbers can vary between 0 and 255.
+  // Software_ver_no contains the software version number. Version
+  // 3.02 would be stored as 302.
+
+  s_val_t eeprom_ver_no;	  			/* offset 0x00f4 */
+  s_val_t software_ver_no;	  			/* offset 0x00f5 */
+
+  // Software_day & software_year are the release date of the software
+  // the JR3 DSP is currently running. Day is the day of the year,
+  // with January 1 being 1, and December 31, being 365 for non leap
+  // years.
+
+  s_val_t software_day;	  				/* offset 0x00f6 */
+  s_val_t software_year;	  			/* offset 0x00f7 */
+
+  // Serial_no & model_no are the two values which uniquely identify a
+  // sensor. This model number does not directly correspond to the JR3
+  // model number, but it will provide a unique identifier for
+  // different sensor configurations.
+
+  u_val_t serial_no;	  				/* offset 0x00f8 */
+  u_val_t model_no;	  				/* offset 0x00f9 */
+
+  // Cal_day & cal_year are the sensor calibration date. Day is the
+  // day of the year, with January 1 being 1, and December 31, being
+  // 366 for leap years.
+
+  s_val_t cal_day;	  				/* offset 0x00fa */
+  s_val_t cal_year;	  				/* offset 0x00fb */
+
+  // Units is an enumerated read only value defining the engineering
+  // units used in the sensor full scale. The meanings of particular
+  // values are discussed in the section detailing the force_units
+  // structure on page 22. The engineering units are setto customer
+  // specifications during sensor manufacture and cannot be changed by
+  // writing to Units.
+  //
+  // Bits contains the number of bits of resolution of the ADC
+  // currently in use.
+  //
+  // Channels is a bit field showing which channels the current sensor
+  // is capable of sending. If bit 0 is active, this sensor can send
+  // channel 0, if bit 13 is active, this sensor can send channel 13,
+  // etc. This bit can be active, even if the sensor is not currently
+  // sending this channel. Some sensors are configurable as to which
+  // channels to send, and this field only contains information on the
+  // channels available to send, not on the current configuration. To
+  // find which channels are currently being sent, monitor the
+  // Raw_time fields (pg. 19) in the raw_channels array (pg. 7). If
+  // the time is changing periodically, then that channel is being
+  // received.
+
+  u_val_t units;	  				/* offset 0x00fc */
+  s_val_t bits;	  					/* offset 0x00fd */
+  s_val_t channels;  					/* offset 0x00fe */
+
+  // Thickness specifies the overall thickness of the sensor from
+  // flange to flange. The engineering units for this value are
+  // contained in units (pg. 16). The sensor calibration is relative
+  // to the center of the sensor. This value allows easy coordinate
+  // transformation from the center of the sensor to either flange.
+
+  s_val_t thickness;  					/* offset 0x00ff */
+
+  // Load_envelopes is a table containing the load envelope
+  // descriptions. There are 16 possible load envelope slots in the
+  // table. The slots are on 16 word boundaries and are numbered 0-15.
+  // Each load envelope needs to start at the beginning of a slot but
+  // need not be fully contained in that slot. That is to say that a
+  // single load envelope can be larger than a single slot. The
+  // software has been tested and ran satisfactorily with 50
+  // thresholds active. A single load envelope this large would take
+  // up 5 of the 16 slots. The load envelope data is laid out in an
+  // order that is most efficient for the JR3 DSP. The structure is
+  // detailed later in the section showing the definition of the
+  // le_struct structure (pg. 23).
+
+  le_struct_t load_envelopes[0x10];			/* offset 0x0100 */
+  
+  // Transforms is a table containing the transform descriptions.
+  // There are 16 possible transform slots in the table. The slots are
+  // on 16 word boundaries and are numbered 0-15. Each transform needs
+  // to start at the beginning of a slot but need not be fully
+  // contained in that slot. That is to say that a single transform
+  // can be larger than a single slot. A transform is 2 * no of links
+  // + 1 words in length. So a single slot can contain a transform
+  // with 7 links. Two slots can contain a transform that is 15 links.
+  // The layout is detailed later in the section showing the
+  // definition of the transform structure (pg. 26).
+
+  intern_transform_t transforms[0x10];			/* offset 0x0200 */
+} jr3_channel_t;
+
+typedef struct {
+  struct {
+    u_val_t program_low[0x4000];	// 0x00000 - 0x10000
+    jr3_channel_t data;			// 0x10000 - 0x10c00
+    char pad2[0x30000 - 0x00c00];	// 0x10c00 - 0x40000
+    u_val_t program_high[0x8000];	// 0x40000 - 0x60000
+    u32 reset;				// 0x60000 - 0x60004
+    char pad3[0x20000 - 0x00004];	// 0x60004 - 0x80000
+  } channel[4];
+} jr3_t;
+



diff -urbN --exclude '*.ko' --exclude '*.cache' --exclude '*.cmd' --exclude '*.o' --exclude '*.mod.c' --exclude '*~' comedi.orig/comedi/drivers/Kbuild comedi/comedi/drivers/Kbuild
--- comedi.orig/comedi/drivers/Kbuild	2006-12-08 17:53:38.000000000 +0100
+++ comedi/comedi/drivers/Kbuild	2007-06-08 09:47:47.000000000 +0200
_at__at_ -64,6 +64,7 _at__at_
 obj-m += gsc_hpdi.o
 obj-m += ii_pci20kc.o
 obj-m += icp_multi.o
+obj-m += jr3_pci.o
 obj-m += ke_counter.o
 obj-m += me_daq.o
 obj-m += me4000.o



diff -urbN --exclude '*.ko' --exclude '*.cache' --exclude '*.cmd' --exclude '*.o' --exclude '*.mod.c' --exclude '*~' comedi.orig/comedi/drivers/Makefile.am comedi/comedi/drivers/Makefile.am
--- comedi.orig/comedi/drivers/Makefile.am	2007-01-31 04:13:55.000000000 +0100
+++ comedi/comedi/drivers/Makefile.am	2007-06-08 09:41:30.000000000 +0200
_at__at_ -133,6 +133,7 _at__at_
  gsc_hpdi.ko \
  ii_pci20kc.ko \
  icp_multi.ko \
+ jr3_pci.ko \
  ke_counter.ko \
  me_daq.ko \
  me4000.ko \
_at__at_ -227,7 +228,7 _at__at_
 gsc_hpdi_ko_SOURCES = gsc_hpdi.c
 ii_pci20kc_ko_SOURCES = ii_pci20kc.c
 icp_multi_ko_SOURCES = icp_multi.c
+jr3_pci_ko_SOURCES = jr3_pci.c
 ke_counter_ko_SOURCES = ke_counter.c
 me4000_ko_SOURCES = me4000.c
 me_daq_ko_SOURCES = me_daq.c

Received on 2007-06-29Z16:19:41