1 // SPDX-License-Identifier: GPL-2.0+
2 /*
3 * comedi/drivers/jr3_pci.c
4 * hardware driver for JR3/PCI force sensor board
5 *
6 * COMEDI - Linux Control and Measurement Device Interface
7 * Copyright (C) 2007 Anders Blomdell <anders.blomdell@control.lth.se>
8 */
9 /*
10 * Driver: jr3_pci
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
14 * Status: works
15 * Devices: [JR3] PCI force sensor board (jr3_pci)
16 *
17 * Configuration options:
18 * None
19 *
20 * Manual configuration of comedi devices is not supported by this
21 * driver; supported PCI devices are configured as comedi devices
22 * automatically.
23 *
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".
29 */
30
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>
38
39 #include "../comedi_pci.h"
40
41 #include "jr3_pci.h"
42
43 #define PCI_VENDOR_ID_JR3 0x1762
44
45 enum jr3_pci_boardid {
46 BOARD_JR3_1,
47 BOARD_JR3_2,
48 BOARD_JR3_3,
49 BOARD_JR3_4,
50 };
51
52 struct jr3_pci_board {
53 const char *name;
54 int n_subdevs;
55 };
56
57 static const struct jr3_pci_board jr3_pci_boards[] = {
58 [BOARD_JR3_1] = {
59 .name = "jr3_pci_1",
60 .n_subdevs = 1,
61 },
62 [BOARD_JR3_2] = {
63 .name = "jr3_pci_2",
64 .n_subdevs = 2,
65 },
66 [BOARD_JR3_3] = {
67 .name = "jr3_pci_3",
68 .n_subdevs = 3,
69 },
70 [BOARD_JR3_4] = {
71 .name = "jr3_pci_4",
72 .n_subdevs = 4,
73 },
74 };
75
76 struct jr3_pci_transform {
77 struct {
78 u16 link_type;
79 s16 link_amount;
80 } link[8];
81 };
82
83 struct jr3_pci_poll_delay {
84 int min;
85 int max;
86 };
87
88 struct jr3_pci_dev_private {
89 struct timer_list timer;
90 struct comedi_device *dev;
91 };
92
93 union jr3_pci_single_range {
94 struct comedi_lrange l;
95 char _reserved[offsetof(struct comedi_lrange, range[1])];
96 };
97
98 enum jr3_pci_poll_state {
99 state_jr3_poll,
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,
104 state_jr3_done
105 };
106
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;
111 int serial_no;
112 int model_no;
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];
116 u16 errors;
117 int retries;
118 };
119
poll_delay_min_max(int min,int max)120 static struct jr3_pci_poll_delay poll_delay_min_max(int min, int max)
121 {
122 struct jr3_pci_poll_delay result;
123
124 result.min = min;
125 result.max = max;
126 return result;
127 }
128
is_complete(struct jr3_sensor __iomem * sensor)129 static int is_complete(struct jr3_sensor __iomem *sensor)
130 {
131 return get_s16(&sensor->command_word0) == 0;
132 }
133
set_transforms(struct jr3_sensor __iomem * sensor,const struct jr3_pci_transform * transf,short num)134 static void set_transforms(struct jr3_sensor __iomem *sensor,
135 const struct jr3_pci_transform *transf, short num)
136 {
137 int i;
138
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);
143 udelay(1);
144 set_s16(&sensor->transforms[num].link[i].link_amount,
145 transf->link[i].link_amount);
146 udelay(1);
147 if (transf->link[i].link_type == end_x_form)
148 break;
149 }
150 }
151
use_transform(struct jr3_sensor __iomem * sensor,short transf_num)152 static void use_transform(struct jr3_sensor __iomem *sensor,
153 short transf_num)
154 {
155 set_s16(&sensor->command_word0, 0x0500 + (transf_num & 0x000f));
156 }
157
use_offset(struct jr3_sensor __iomem * sensor,short offset_num)158 static void use_offset(struct jr3_sensor __iomem *sensor, short offset_num)
159 {
160 set_s16(&sensor->command_word0, 0x0600 + (offset_num & 0x000f));
161 }
162
set_offset(struct jr3_sensor __iomem * sensor)163 static void set_offset(struct jr3_sensor __iomem *sensor)
164 {
165 set_s16(&sensor->command_word0, 0x0700);
166 }
167
168 struct six_axis_t {
169 s16 fx;
170 s16 fy;
171 s16 fz;
172 s16 mx;
173 s16 my;
174 s16 mz;
175 };
176
set_full_scales(struct jr3_sensor __iomem * sensor,struct six_axis_t full_scale)177 static void set_full_scales(struct jr3_sensor __iomem *sensor,
178 struct six_axis_t full_scale)
179 {
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);
187 }
188
get_min_full_scales(struct jr3_sensor __iomem * sensor)189 static struct six_axis_t get_min_full_scales(struct jr3_sensor __iomem *sensor)
190 {
191 struct six_axis_t result;
192
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);
199 return result;
200 }
201
get_max_full_scales(struct jr3_sensor __iomem * sensor)202 static struct six_axis_t get_max_full_scales(struct jr3_sensor __iomem *sensor)
203 {
204 struct six_axis_t result;
205
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);
212 return result;
213 }
214
jr3_pci_ai_read_chan(struct comedi_device * dev,struct comedi_subdevice * s,unsigned int chan)215 static unsigned int jr3_pci_ai_read_chan(struct comedi_device *dev,
216 struct comedi_subdevice *s,
217 unsigned int chan)
218 {
219 struct jr3_pci_subdev_private *spriv = s->private;
220 unsigned int val = 0;
221
222 if (spriv->state != state_jr3_done)
223 return 0;
224
225 if (chan < 56) {
226 unsigned int axis = chan % 8;
227 unsigned int filter = chan / 8;
228
229 switch (axis) {
230 case 0:
231 val = get_s16(&spriv->sensor->filter[filter].fx);
232 break;
233 case 1:
234 val = get_s16(&spriv->sensor->filter[filter].fy);
235 break;
236 case 2:
237 val = get_s16(&spriv->sensor->filter[filter].fz);
238 break;
239 case 3:
240 val = get_s16(&spriv->sensor->filter[filter].mx);
241 break;
242 case 4:
243 val = get_s16(&spriv->sensor->filter[filter].my);
244 break;
245 case 5:
246 val = get_s16(&spriv->sensor->filter[filter].mz);
247 break;
248 case 6:
249 val = get_s16(&spriv->sensor->filter[filter].v1);
250 break;
251 case 7:
252 val = get_s16(&spriv->sensor->filter[filter].v2);
253 break;
254 }
255 val += 0x4000;
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);
260 }
261
262 return val;
263 }
264
jr3_pci_ai_insn_read(struct comedi_device * dev,struct comedi_subdevice * s,struct comedi_insn * insn,unsigned int * data)265 static int jr3_pci_ai_insn_read(struct comedi_device *dev,
266 struct comedi_subdevice *s,
267 struct comedi_insn *insn,
268 unsigned int *data)
269 {
270 struct jr3_pci_subdev_private *spriv = s->private;
271 unsigned int chan = CR_CHAN(insn->chanspec);
272 u16 errors;
273 int i;
274
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;
282 }
283 return -EAGAIN;
284 }
285
286 for (i = 0; i < insn->n; i++)
287 data[i] = jr3_pci_ai_read_chan(dev, s, chan);
288
289 return insn->n;
290 }
291
jr3_pci_open(struct comedi_device * dev)292 static int jr3_pci_open(struct comedi_device *dev)
293 {
294 struct jr3_pci_subdev_private *spriv;
295 struct comedi_subdevice *s;
296 int i;
297
298 for (i = 0; i < dev->n_subdevices; i++) {
299 s = &dev->subdevices[i];
300 spriv = s->private;
301 dev_dbg(dev->class_dev, "serial[%d]: %d\n", s->index,
302 spriv->serial_no);
303 }
304 return 0;
305 }
306
read_idm_word(const u8 * data,size_t size,int * pos,unsigned int * val)307 static int read_idm_word(const u8 *data, size_t size, int *pos,
308 unsigned int *val)
309 {
310 int result = 0;
311 int value;
312
313 if (pos && val) {
314 /* Skip over non hex */
315 for (; *pos < size && !isxdigit(data[*pos]); (*pos)++)
316 ;
317 /* Collect value */
318 *val = 0;
319 for (; *pos < size; (*pos)++) {
320 value = hex_to_bin(data[*pos]);
321 if (value >= 0) {
322 result = 1;
323 *val = (*val << 4) + value;
324 } else {
325 break;
326 }
327 }
328 }
329 return result;
330 }
331
jr3_check_firmware(struct comedi_device * dev,const u8 * data,size_t size)332 static int jr3_check_firmware(struct comedi_device *dev,
333 const u8 *data, size_t size)
334 {
335 int more = 1;
336 int pos = 0;
337
338 /*
339 * IDM file format is:
340 * { count, address, data <count> } *
341 * ffff
342 */
343 while (more) {
344 unsigned int count = 0;
345 unsigned int addr = 0;
346
347 more = more && read_idm_word(data, size, &pos, &count);
348 if (more && count == 0xffff)
349 return 0;
350
351 more = more && read_idm_word(data, size, &pos, &addr);
352 while (more && count > 0) {
353 unsigned int dummy = 0;
354
355 more = more && read_idm_word(data, size, &pos, &dummy);
356 count--;
357 }
358 }
359
360 return -ENODATA;
361 }
362
jr3_write_firmware(struct comedi_device * dev,int subdev,const u8 * data,size_t size)363 static void jr3_write_firmware(struct comedi_device *dev,
364 int subdev, const u8 *data, size_t size)
365 {
366 struct jr3_block __iomem *block = dev->mmio;
367 u32 __iomem *lo;
368 u32 __iomem *hi;
369 int more = 1;
370 int pos = 0;
371
372 while (more) {
373 unsigned int count = 0;
374 unsigned int addr = 0;
375
376 more = more && read_idm_word(data, size, &pos, &count);
377 if (more && count == 0xffff)
378 return;
379
380 more = more && read_idm_word(data, size, &pos, &addr);
381
382 dev_dbg(dev->class_dev, "Loading#%d %4.4x bytes at %4.4x\n",
383 subdev, count, addr);
384
385 while (more && count > 0) {
386 if (addr & 0x4000) {
387 /* 16 bit data, never seen in real life!! */
388 unsigned int data1 = 0;
389
390 more = more &&
391 read_idm_word(data, size, &pos, &data1);
392 count--;
393 /* jr3[addr + 0x20000 * pnum] = data1; */
394 } else {
395 /* Download 24 bit program */
396 unsigned int data1 = 0;
397 unsigned int data2 = 0;
398
399 lo = &block[subdev].program_lo[addr];
400 hi = &block[subdev].program_hi[addr];
401
402 more = more &&
403 read_idm_word(data, size, &pos, &data1);
404 more = more &&
405 read_idm_word(data, size, &pos, &data2);
406 count -= 2;
407 if (more) {
408 set_u16(lo, data1);
409 udelay(1);
410 set_u16(hi, data2);
411 udelay(1);
412 }
413 }
414 addr++;
415 }
416 }
417 }
418
jr3_download_firmware(struct comedi_device * dev,const u8 * data,size_t size,unsigned long context)419 static int jr3_download_firmware(struct comedi_device *dev,
420 const u8 *data, size_t size,
421 unsigned long context)
422 {
423 int subdev;
424 int ret;
425
426 /* verify IDM file format */
427 ret = jr3_check_firmware(dev, data, size);
428 if (ret)
429 return ret;
430
431 /* write firmware to each subdevice */
432 for (subdev = 0; subdev < dev->n_subdevices; subdev++)
433 jr3_write_firmware(dev, subdev, data, size);
434
435 return 0;
436 }
437
438 static struct jr3_pci_poll_delay
jr3_pci_poll_subdevice(struct comedi_subdevice * s)439 jr3_pci_poll_subdevice(struct comedi_subdevice *s)
440 {
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;
444 u16 model_no;
445 u16 serial_no;
446 int errors;
447 int i;
448
449 sensor = spriv->sensor;
450 errors = get_u16(&sensor->errors);
451
452 if (errors != spriv->errors)
453 spriv->errors = errors;
454
455 /* Sensor communication lost? force poll mode */
456 if (errors & (watch_dog | watch_dog2 | sensor_change))
457 spriv->state = state_jr3_poll;
458
459 switch (spriv->state) {
460 case state_jr3_poll:
461 model_no = get_u16(&sensor->model_no);
462 serial_no = get_u16(&sensor->serial_no);
463
464 if ((errors & (watch_dog | watch_dog2)) ||
465 model_no == 0 || serial_no == 0) {
466 /*
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.
470 */
471 } else {
472 spriv->retries = 0;
473 spriv->state = state_jr3_init_wait_for_offset;
474 }
475 break;
476 case state_jr3_init_wait_for_offset:
477 spriv->retries++;
478 if (spriv->retries < 10) {
479 /*
480 * Wait for offeset to stabilize
481 * (< 10 s according to manual)
482 */
483 } else {
484 struct jr3_pci_transform transf;
485
486 spriv->model_no = get_u16(&sensor->model_no);
487 spriv->serial_no = get_u16(&sensor->serial_no);
488
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;
493 }
494
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);
500 }
501 break;
502 case state_jr3_init_transform_complete:
503 if (!is_complete(sensor)) {
504 result = poll_delay_min_max(20, 100);
505 } else {
506 /* Set full scale */
507 struct six_axis_t min_full_scale;
508 struct six_axis_t max_full_scale;
509
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);
513
514 spriv->state = state_jr3_init_set_full_scale_complete;
515 /* Allow 20 ms for completion */
516 result = poll_delay_min_max(20, 100);
517 }
518 break;
519 case state_jr3_init_set_full_scale_complete:
520 if (!is_complete(sensor)) {
521 result = poll_delay_min_max(20, 100);
522 } else {
523 struct force_array __iomem *fs = &sensor->full_scale;
524 union jr3_pci_single_range *r = spriv->range;
525
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;
546
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);
551 }
552 break;
553 case state_jr3_init_use_offset_complete:
554 if (!is_complete(sensor)) {
555 result = poll_delay_min_max(20, 100);
556 } else {
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);
563
564 set_offset(sensor);
565
566 spriv->state = state_jr3_done;
567 }
568 break;
569 case state_jr3_done:
570 result = poll_delay_min_max(10000, 20000);
571 break;
572 default:
573 break;
574 }
575
576 return result;
577 }
578
jr3_pci_poll_dev(struct timer_list * t)579 static void jr3_pci_poll_dev(struct timer_list *t)
580 {
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;
585 unsigned long flags;
586 unsigned long now;
587 int delay;
588 int i;
589
590 spin_lock_irqsave(&dev->spinlock, flags);
591 delay = 1000;
592 now = jiffies;
593
594 /* Poll all sensors that are ready to be polled */
595 for (i = 0; i < dev->n_subdevices; i++) {
596 s = &dev->subdevices[i];
597 spriv = s->private;
598
599 if (time_after_eq(now, spriv->next_time_min)) {
600 struct jr3_pci_poll_delay sub_delay;
601
602 sub_delay = jr3_pci_poll_subdevice(s);
603
604 spriv->next_time_min = jiffies +
605 msecs_to_jiffies(sub_delay.min);
606
607 if (sub_delay.max && sub_delay.max < delay)
608 /*
609 * Wake up as late as possible ->
610 * poll as many sensors as possible at once.
611 */
612 delay = sub_delay.max;
613 }
614 }
615 spin_unlock_irqrestore(&dev->spinlock, flags);
616
617 devpriv->timer.expires = jiffies + msecs_to_jiffies(delay);
618 add_timer(&devpriv->timer);
619 }
620
621 static struct jr3_pci_subdev_private *
jr3_pci_alloc_spriv(struct comedi_device * dev,struct comedi_subdevice * s)622 jr3_pci_alloc_spriv(struct comedi_device *dev, struct comedi_subdevice *s)
623 {
624 struct jr3_block __iomem *block = dev->mmio;
625 struct jr3_pci_subdev_private *spriv;
626 int j;
627 int k;
628
629 spriv = comedi_alloc_spriv(s, sizeof(*spriv));
630 if (!spriv)
631 return NULL;
632
633 spriv->sensor = &block[s->index].sensor;
634
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;
639
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;
643 }
644 }
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;
648
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;
653
654 return spriv;
655 }
656
jr3_pci_show_copyright(struct comedi_device * dev)657 static void jr3_pci_show_copyright(struct comedi_device *dev)
658 {
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];
662 int i;
663
664 for (i = 0; i < ARRAY_SIZE(sensor0->copyright); i++)
665 copy[i] = (char)(get_u16(&sensor0->copyright[i]) >> 8);
666 copy[i] = '\0';
667 dev_dbg(dev->class_dev, "Firmware copyright: %s\n", copy);
668 }
669
jr3_pci_auto_attach(struct comedi_device * dev,unsigned long context)670 static int jr3_pci_auto_attach(struct comedi_device *dev,
671 unsigned long context)
672 {
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;
679 int ret;
680 int i;
681
682 BUILD_BUG_ON(sizeof(struct jr3_block) != 0x80000);
683
684 if (context < ARRAY_SIZE(jr3_pci_boards))
685 board = &jr3_pci_boards[context];
686 if (!board)
687 return -ENODEV;
688 dev->board_ptr = board;
689 dev->board_name = board->name;
690
691 devpriv = comedi_alloc_devpriv(dev, sizeof(*devpriv));
692 if (!devpriv)
693 return -ENOMEM;
694
695 ret = comedi_pci_enable(dev);
696 if (ret)
697 return ret;
698
699 if (pci_resource_len(pcidev, 0) < board->n_subdevs * sizeof(*block))
700 return -ENXIO;
701
702 dev->mmio = pci_ioremap_bar(pcidev, 0);
703 if (!dev->mmio)
704 return -ENOMEM;
705
706 block = dev->mmio;
707
708 ret = comedi_alloc_subdevices(dev, board->n_subdevs);
709 if (ret)
710 return ret;
711
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;
719
720 spriv = jr3_pci_alloc_spriv(dev, s);
721 if (!spriv)
722 return -ENOMEM;
723
724 /* Channel specific range and maxdata */
725 s->range_table_list = spriv->range_table_list;
726 s->maxdata_list = spriv->maxdata_list;
727 }
728
729 /* Reset DSP card */
730 for (i = 0; i < dev->n_subdevices; i++)
731 writel(0, &block[i].reset);
732
733 ret = comedi_load_firmware(dev, &comedi_to_pci_dev(dev)->dev,
734 "comedi/jr3pci.idm",
735 jr3_download_firmware, 0);
736 dev_dbg(dev->class_dev, "Firmware load %d\n", ret);
737 if (ret < 0)
738 return ret;
739 /*
740 * TODO: use firmware to load preferred offset tables. Suggested
741 * format:
742 * model serial Fx Fy Fz Mx My Mz\n
743 *
744 * comedi_load_firmware(dev, &comedi_to_pci_dev(dev)->dev,
745 * "comedi/jr3_offsets_table",
746 * jr3_download_firmware, 1);
747 */
748
749 /*
750 * It takes a few milliseconds for software to settle as much as we
751 * can read firmware version
752 */
753 msleep_interruptible(25);
754 jr3_pci_show_copyright(dev);
755
756 /* Start card timer */
757 for (i = 0; i < dev->n_subdevices; i++) {
758 s = &dev->subdevices[i];
759 spriv = s->private;
760
761 spriv->next_time_min = jiffies + msecs_to_jiffies(500);
762 }
763
764 devpriv->dev = dev;
765 timer_setup(&devpriv->timer, jr3_pci_poll_dev, 0);
766 devpriv->timer.expires = jiffies + msecs_to_jiffies(1000);
767 add_timer(&devpriv->timer);
768
769 return 0;
770 }
771
jr3_pci_detach(struct comedi_device * dev)772 static void jr3_pci_detach(struct comedi_device *dev)
773 {
774 struct jr3_pci_dev_private *devpriv = dev->private;
775
776 if (devpriv)
777 del_timer_sync(&devpriv->timer);
778
779 comedi_pci_detach(dev);
780 }
781
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,
787 };
788
jr3_pci_pci_probe(struct pci_dev * dev,const struct pci_device_id * id)789 static int jr3_pci_pci_probe(struct pci_dev *dev,
790 const struct pci_device_id *id)
791 {
792 return comedi_pci_auto_config(dev, &jr3_pci_driver, id->driver_data);
793 }
794
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 },
801 { 0 }
802 };
803 MODULE_DEVICE_TABLE(pci, jr3_pci_pci_table);
804
805 static struct pci_driver jr3_pci_pci_driver = {
806 .name = "jr3_pci",
807 .id_table = jr3_pci_pci_table,
808 .probe = jr3_pci_pci_probe,
809 .remove = comedi_pci_auto_unconfig,
810 };
811 module_comedi_pci_driver(jr3_pci_driver, jr3_pci_pci_driver);
812
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");
817
