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   You should have received a copy of the GNU General Public License
  19   along with this program; if not, write to the Free Software
  20   Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
  21
  22 */
  23 /*
  24  * Driver: jr3_pci
  25  * Description: JR3/PCI force sensor board
  26  * Author: Anders Blomdell <anders.blomdell@control.lth.se>
  27  * Updated: Thu, 01 Nov 2012 17:34:55 +0000
  28  * Status: works
  29  * Devices: [JR3] PCI force sensor board (jr3_pci)
  30  *
  31  * Configuration options:
  32  *   None
  33  *
  34  * Manual configuration of comedi devices is not supported by this
  35  * driver; supported PCI devices are configured as comedi devices
  36  * automatically.
  37  *
  38  * The DSP on the board requires initialization code, which can be
  39  * loaded by placing it in /lib/firmware/comedi.  The initialization
  40  * code should be somewhere on the media you got with your card.  One
  41  * version is available from http://www.comedi.org in the
  42  * comedi_nonfree_firmware tarball.  The file is called "jr3pci.idm".
  43  */
  44
  45 #include <linux/kernel.h>
  46 #include <linux/pci.h>
  47 #include <linux/delay.h>
  48 #include <linux/ctype.h>
  49 #include <linux/firmware.h>
  50 #include <linux/jiffies.h>
  51 #include <linux/slab.h>
  52 #include <linux/timer.h>
  53
  54 #include "../comedidev.h"
  55
  56 #include "jr3_pci.h"
  57
  58 #define PCI_VENDOR_ID_JR3 0x1762
  59 #define PCI_DEVICE_ID_JR3_1_CHANNEL 0x3111
  60 #define PCI_DEVICE_ID_JR3_1_CHANNEL_NEW 0x1111
  61 #define PCI_DEVICE_ID_JR3_2_CHANNEL 0x3112
  62 #define PCI_DEVICE_ID_JR3_3_CHANNEL 0x3113
  63 #define PCI_DEVICE_ID_JR3_4_CHANNEL 0x3114
  64
  65 struct jr3_pci_dev_private {
  66         struct jr3_t __iomem *iobase;
  67         int n_channels;
  68         struct timer_list timer;
  69 };
  70
  71 struct poll_delay_t {
  72         int min;
  73         int max;
  74 };
  75
  76 struct jr3_pci_subdev_private {
  77         struct jr3_channel __iomem *channel;
  78         unsigned long next_time_min;
  79         unsigned long next_time_max;
  80         enum { state_jr3_poll,
  81                 state_jr3_init_wait_for_offset,
  82                 state_jr3_init_transform_complete,
  83                 state_jr3_init_set_full_scale_complete,
  84                 state_jr3_init_use_offset_complete,
  85                 state_jr3_done
  86         } state;
  87         int channel_no;
  88         int serial_no;
  89         int model_no;
  90         struct {
  91                 int length;
  92                 struct comedi_krange range;
  93         } range[9];
  94         const struct comedi_lrange *range_table_list[8 * 7 + 2];
  95         unsigned int maxdata_list[8 * 7 + 2];
  96         u16 errors;
  97         int retries;
  98 };
  99
 100 /* Hotplug firmware loading stuff */
 101 static int comedi_load_firmware(struct comedi_device *dev, const char *name,
 102                                 int (*cb)(struct comedi_device *dev,
 103                                         const u8 *data, size_t size))
 104 {
 105         struct pci_dev *pcidev = comedi_to_pci_dev(dev);
 106         int result = 0;
 107         const struct firmware *fw;
 108         char *firmware_path;
 109         static const char *prefix = "comedi/";
 110
 111         firmware_path = kmalloc(strlen(prefix) + strlen(name) + 1, GFP_KERNEL);
 112         if (!firmware_path) {
 113                 result = -ENOMEM;
 114         } else {
 115                 firmware_path[0] = '\0';
 116                 strcat(firmware_path, prefix);
 117                 strcat(firmware_path, name);
 118                 result = request_firmware(&fw, firmware_path, &pcidev->dev);
 119                 if (result == 0) {
 120                         if (!cb)
 121                                 result = -EINVAL;
 122                         else
 123                                 result = cb(dev, fw->data, fw->size);
 124                         release_firmware(fw);
 125                 }
 126                 kfree(firmware_path);
 127         }
 128         return result;
 129 }
 130
 131 static struct poll_delay_t poll_delay_min_max(int min, int max)
 132 {
 133         struct poll_delay_t result;
 134
 135         result.min = min;
 136         result.max = max;
 137         return result;
 138 }
 139
 140 static int is_complete(struct jr3_channel __iomem *channel)
 141 {
 142         return get_s16(&channel->command_word0) == 0;
 143 }
 144
 145 struct transform_t {
 146         struct {
 147                 u16 link_type;
 148                 s16 link_amount;
 149         } link[8];
 150 };
 151
 152 static void set_transforms(struct jr3_channel __iomem *channel,
 153                            struct transform_t transf, short num)
 154 {
 155         int i;
 156
 157         num &= 0x000f;          /*  Make sure that 0 <= num <= 15 */
 158         for (i = 0; i < 8; i++) {
 159                 set_u16(&channel->transforms[num].link[i].link_type,
 160                         transf.link[i].link_type);
 161                 udelay(1);
 162                 set_s16(&channel->transforms[num].link[i].link_amount,
 163                         transf.link[i].link_amount);
 164                 udelay(1);
 165                 if (transf.link[i].link_type == end_x_form)
 166                         break;
 167         }
 168 }
 169
 170 static void use_transform(struct jr3_channel __iomem *channel,
 171                           short transf_num)
 172 {
 173         set_s16(&channel->command_word0, 0x0500 + (transf_num & 0x000f));
 174 }
 175
 176 static void use_offset(struct jr3_channel __iomem *channel, short offset_num)
 177 {
 178         set_s16(&channel->command_word0, 0x0600 + (offset_num & 0x000f));
 179 }
 180
 181 static void set_offset(struct jr3_channel __iomem *channel)
 182 {
 183         set_s16(&channel->command_word0, 0x0700);
 184 }
 185
 186 struct six_axis_t {
 187         s16 fx;
 188         s16 fy;
 189         s16 fz;
 190         s16 mx;
 191         s16 my;
 192         s16 mz;
 193 };
 194
 195 static void set_full_scales(struct jr3_channel __iomem *channel,
 196                             struct six_axis_t full_scale)
 197 {
 198         set_s16(&channel->full_scale.fx, full_scale.fx);
 199         set_s16(&channel->full_scale.fy, full_scale.fy);
 200         set_s16(&channel->full_scale.fz, full_scale.fz);
 201         set_s16(&channel->full_scale.mx, full_scale.mx);
 202         set_s16(&channel->full_scale.my, full_scale.my);
 203         set_s16(&channel->full_scale.mz, full_scale.mz);
 204         set_s16(&channel->command_word0, 0x0a00);
 205 }
 206
 207 static struct six_axis_t get_min_full_scales(struct jr3_channel __iomem
 208                                              *channel)
 209 {
 210         struct six_axis_t result;
 211         result.fx = get_s16(&channel->min_full_scale.fx);
 212         result.fy = get_s16(&channel->min_full_scale.fy);
 213         result.fz = get_s16(&channel->min_full_scale.fz);
 214         result.mx = get_s16(&channel->min_full_scale.mx);
 215         result.my = get_s16(&channel->min_full_scale.my);
 216         result.mz = get_s16(&channel->min_full_scale.mz);
 217         return result;
 218 }
 219
 220 static struct six_axis_t get_max_full_scales(struct jr3_channel __iomem
 221                                              *channel)
 222 {
 223         struct six_axis_t result;
 224         result.fx = get_s16(&channel->max_full_scale.fx);
 225         result.fy = get_s16(&channel->max_full_scale.fy);
 226         result.fz = get_s16(&channel->max_full_scale.fz);
 227         result.mx = get_s16(&channel->max_full_scale.mx);
 228         result.my = get_s16(&channel->max_full_scale.my);
 229         result.mz = get_s16(&channel->max_full_scale.mz);
 230         return result;
 231 }
 232
 233 static int jr3_pci_ai_insn_read(struct comedi_device *dev,
 234                                 struct comedi_subdevice *s,
 235                                 struct comedi_insn *insn, unsigned int *data)
 236 {
 237         int result;
 238         struct jr3_pci_subdev_private *p;
 239         int channel;
 240
 241         p = s->private;
 242         channel = CR_CHAN(insn->chanspec);
 243         if (p == NULL || channel > 57) {
 244                 result = -EINVAL;
 245         } else {
 246                 int i;
 247
 248                 result = insn->n;
 249                 if (p->state != state_jr3_done ||
 250                     (get_u16(&p->channel->errors) & (watch_dog | watch_dog2 |
 251                                                      sensor_change))) {
 252                         /* No sensor or sensor changed */
 253                         if (p->state == state_jr3_done) {
 254                                 /* Restart polling */
 255                                 p->state = state_jr3_poll;
 256                         }
 257                         result = -EAGAIN;
 258                 }
 259                 for (i = 0; i < insn->n; i++) {
 260                         if (channel < 56) {
 261                                 int axis, filter;
 262
 263                                 axis = channel % 8;
 264                                 filter = channel / 8;
 265                                 if (p->state != state_jr3_done) {
 266                                         data[i] = 0;
 267                                 } else {
 268                                         int F = 0;
 269                                         switch (axis) {
 270                                         case 0:
 271                                                 F = get_s16(&p->channel->
 272                                                             filter[filter].fx);
 273                                                 break;
 274                                         case 1:
 275                                                 F = get_s16(&p->channel->
 276                                                             filter[filter].fy);
 277                                                 break;
 278                                         case 2:
 279                                                 F = get_s16(&p->channel->
 280                                                             filter[filter].fz);
 281                                                 break;
 282                                         case 3:
 283                                                 F = get_s16(&p->channel->
 284                                                             filter[filter].mx);
 285                                                 break;
 286                                         case 4:
 287                                                 F = get_s16(&p->channel->
 288                                                             filter[filter].my);
 289                                                 break;
 290                                         case 5:
 291                                                 F = get_s16(&p->channel->
 292                                                             filter[filter].mz);
 293                                                 break;
 294                                         case 6:
 295                                                 F = get_s16(&p->channel->
 296                                                             filter[filter].v1);
 297                                                 break;
 298                                         case 7:
 299                                                 F = get_s16(&p->channel->
 300                                                             filter[filter].v2);
 301                                                 break;
 302                                         }
 303                                         data[i] = F + 0x4000;
 304                                 }
 305                         } else if (channel == 56) {
 306                                 if (p->state != state_jr3_done)
 307                                         data[i] = 0;
 308                                 else
 309                                         data[i] =
 310                                         get_u16(&p->channel->model_no);
 311                         } else if (channel == 57) {
 312                                 if (p->state != state_jr3_done)
 313                                         data[i] = 0;
 314                                 else
 315                                         data[i] =
 316                                         get_u16(&p->channel->serial_no);
 317                         }
 318                 }
 319         }
 320         return result;
 321 }
 322
 323 static int jr3_pci_open(struct comedi_device *dev)
 324 {
 325         int i;
 326         struct jr3_pci_dev_private *devpriv = dev->private;
 327
 328         dev_dbg(dev->class_dev, "jr3_pci_open\n");
 329         for (i = 0; i < devpriv->n_channels; i++) {
 330                 struct jr3_pci_subdev_private *p;
 331
 332                 p = dev->subdevices[i].private;
 333                 if (p) {
 334                         dev_dbg(dev->class_dev, "serial: %p %d (%d)\n", p,
 335                                 p->serial_no, p->channel_no);
 336                 }
 337         }
 338         return 0;
 339 }
 340
 341 static int read_idm_word(const u8 *data, size_t size, int *pos,
 342                          unsigned int *val)
 343 {
 344         int result = 0;
 345         if (pos && val) {
 346                 /*  Skip over non hex */
 347                 for (; *pos < size && !isxdigit(data[*pos]); (*pos)++)
 348                         ;
 349                 /*  Collect value */
 350                 *val = 0;
 351                 for (; *pos < size; (*pos)++) {
 352                         int value;
 353                         value = hex_to_bin(data[*pos]);
 354                         if (value >= 0) {
 355                                 result = 1;
 356                                 *val = (*val << 4) + value;
 357                         } else {
 358                                 break;
 359                         }
 360                 }
 361         }
 362         return result;
 363 }
 364
 365 static int jr3_download_firmware(struct comedi_device *dev, const u8 *data,
 366                                  size_t size)
 367 {
 368         /*
 369          * IDM file format is:
 370          *   { count, address, data <count> } *
 371          *   ffff
 372          */
 373         int result, more, pos, OK;
 374
 375         result = 0;
 376         more = 1;
 377         pos = 0;
 378         OK = 0;
 379         while (more) {
 380                 unsigned int count, addr;
 381
 382                 more = more && read_idm_word(data, size, &pos, &count);
 383                 if (more && count == 0xffff) {
 384                         OK = 1;
 385                         break;
 386                 }
 387                 more = more && read_idm_word(data, size, &pos, &addr);
 388                 while (more && count > 0) {
 389                         unsigned int dummy;
 390                         more = more && read_idm_word(data, size, &pos, &dummy);
 391                         count--;
 392                 }
 393         }
 394
 395         if (!OK) {
 396                 result = -ENODATA;
 397         } else {
 398                 int i;
 399                 struct jr3_pci_dev_private *p = dev->private;
 400
 401                 for (i = 0; i < p->n_channels; i++) {
 402                         struct jr3_pci_subdev_private *sp;
 403
 404                         sp = dev->subdevices[i].private;
 405                         more = 1;
 406                         pos = 0;
 407                         while (more) {
 408                                 unsigned int count, addr;
 409                                 more = more &&
 410                                        read_idm_word(data, size, &pos, &count);
 411                                 if (more && count == 0xffff)
 412                                         break;
 413                                 more = more &&
 414                                        read_idm_word(data, size, &pos, &addr);
 415                                 dev_dbg(dev->class_dev,
 416                                         "Loading#%d %4.4x bytes at %4.4x\n",
 417                                         i, count, addr);
 418                                 while (more && count > 0) {
 419                                         if (addr & 0x4000) {
 420                                                 /*  16 bit data, never seen
 421                                                  *  in real life!! */
 422                                                 unsigned int data1;
 423
 424                                                 more = more &&
 425                                                        read_idm_word(data,
 426                                                                      size, &pos,
 427                                                                      &data1);
 428                                                 count--;
 429                                                 /* jr3[addr + 0x20000 * pnum] =
 430                                                    data1; */
 431                                         } else {
 432                                                 /*   Download 24 bit program */
 433                                                 unsigned int data1, data2;
 434
 435                                                 more = more &&
 436                                                        read_idm_word(data,
 437                                                                      size, &pos,
 438                                                                      &data1);
 439                                                 more = more &&
 440                                                        read_idm_word(data, size,
 441                                                                      &pos,
 442                                                                      &data2);
 443                                                 count -= 2;
 444                                                 if (more) {
 445                                                         set_u16(&p->
 446                                                                 iobase->channel
 447                                                                 [i].program_low
 448                                                                 [addr], data1);
 449                                                         udelay(1);
 450                                                         set_u16(&p->
 451                                                                 iobase->channel
 452                                                                 [i].program_high
 453                                                                 [addr], data2);
 454                                                         udelay(1);
 455                                                 }
 456                                         }
 457                                         addr++;
 458                                 }
 459                         }
 460                 }
 461         }
 462         return result;
 463 }
 464
 465 static struct poll_delay_t jr3_pci_poll_subdevice(struct comedi_subdevice *s)
 466 {
 467         struct poll_delay_t result = poll_delay_min_max(1000, 2000);
 468         struct jr3_pci_subdev_private *p = s->private;
 469         int i;
 470
 471         if (p) {
 472                 struct jr3_channel __iomem *channel = p->channel;
 473                 int errors = get_u16(&channel->errors);
 474
 475                 if (errors != p->errors)
 476                         p->errors = errors;
 477
 478                 if (errors & (watch_dog | watch_dog2 | sensor_change))
 479                         /*  Sensor communication lost, force poll mode */
 480                         p->state = state_jr3_poll;
 481
 482                 switch (p->state) {
 483                 case state_jr3_poll: {
 484                                 u16 model_no = get_u16(&channel->model_no);
 485                                 u16 serial_no = get_u16(&channel->serial_no);
 486                                 if ((errors & (watch_dog | watch_dog2)) ||
 487                                     model_no == 0 || serial_no == 0) {
 488                                         /*
 489                                          * Still no sensor, keep on polling.
 490                                          * Since it takes up to 10 seconds
 491                                          * for offsets to stabilize, polling
 492                                          * each second should suffice.
 493                                          */
 494                                         result = poll_delay_min_max(1000, 2000);
 495                                 } else {
 496                                         p->retries = 0;
 497                                         p->state =
 498                                                 state_jr3_init_wait_for_offset;
 499                                         result = poll_delay_min_max(1000, 2000);
 500                                 }
 501                         }
 502                         break;
 503                 case state_jr3_init_wait_for_offset:
 504                         p->retries++;
 505                         if (p->retries < 10) {
 506                                 /*  Wait for offeset to stabilize
 507                                  *  (< 10 s according to manual) */
 508                                 result = poll_delay_min_max(1000, 2000);
 509                         } else {
 510                                 struct transform_t transf;
 511
 512                                 p->model_no = get_u16(&channel->model_no);
 513                                 p->serial_no = get_u16(&channel->serial_no);
 514
 515                                 /*  Transformation all zeros */
 516                                 for (i = 0; i < ARRAY_SIZE(transf.link); i++) {
 517                                         transf.link[i].link_type =
 518                                                 (enum link_types)0;
 519                                         transf.link[i].link_amount = 0;
 520                                 }
 521
 522                                 set_transforms(channel, transf, 0);
 523                                 use_transform(channel, 0);
 524                                 p->state = state_jr3_init_transform_complete;
 525                                 /*  Allow 20 ms for completion */
 526                                 result = poll_delay_min_max(20, 100);
 527                         }
 528                         break;
 529                 case state_jr3_init_transform_complete:
 530                         if (!is_complete(channel)) {
 531                                 result = poll_delay_min_max(20, 100);
 532                         } else {
 533                                 /*  Set full scale */
 534                                 struct six_axis_t min_full_scale;
 535                                 struct six_axis_t max_full_scale;
 536
 537                                 min_full_scale = get_min_full_scales(channel);
 538                                 max_full_scale = get_max_full_scales(channel);
 539                                 set_full_scales(channel, max_full_scale);
 540
 541                                 p->state =
 542                                         state_jr3_init_set_full_scale_complete;
 543                                 /*  Allow 20 ms for completion */
 544                                 result = poll_delay_min_max(20, 100);
 545                         }
 546                         break;
 547                 case state_jr3_init_set_full_scale_complete:
 548                         if (!is_complete(channel)) {
 549                                 result = poll_delay_min_max(20, 100);
 550                         } else {
 551                                 struct force_array __iomem *full_scale;
 552
 553                                 /*  Use ranges in kN or we will
 554                                  *  overflow around 2000N! */
 555                                 full_scale = &channel->full_scale;
 556                                 p->range[0].range.min =
 557                                         -get_s16(&full_scale->fx) * 1000;
 558                                 p->range[0].range.max =
 559                                         get_s16(&full_scale->fx) * 1000;
 560                                 p->range[1].range.min =
 561                                         -get_s16(&full_scale->fy) * 1000;
 562                                 p->range[1].range.max =
 563                                         get_s16(&full_scale->fy) * 1000;
 564                                 p->range[2].range.min =
 565                                         -get_s16(&full_scale->fz) * 1000;
 566                                 p->range[2].range.max =
 567                                         get_s16(&full_scale->fz) * 1000;
 568                                 p->range[3].range.min =
 569                                         -get_s16(&full_scale->mx) * 100;
 570                                 p->range[3].range.max =
 571                                         get_s16(&full_scale->mx) * 100;
 572                                 p->range[4].range.min =
 573                                         -get_s16(&full_scale->my) * 100;
 574                                 p->range[4].range.max =
 575                                         get_s16(&full_scale->my) * 100;
 576                                 p->range[5].range.min =
 577                                         -get_s16(&full_scale->mz) * 100;
 578                                 p->range[5].range.max =
 579                                         get_s16(&full_scale->mz) * 100; /* ?? */
 580                                 p->range[6].range.min =
 581                                         -get_s16(&full_scale->v1) * 100;/* ?? */
 582                                 p->range[6].range.max =
 583                                         get_s16(&full_scale->v1) * 100; /* ?? */
 584                                 p->range[7].range.min =
 585                                         -get_s16(&full_scale->v2) * 100;/* ?? */
 586                                 p->range[7].range.max =
 587                                         get_s16(&full_scale->v2) * 100; /* ?? */
 588                                 p->range[8].range.min = 0;
 589                                 p->range[8].range.max = 65535;
 590
 591                                 use_offset(channel, 0);
 592                                 p->state = state_jr3_init_use_offset_complete;
 593                                 /*  Allow 40 ms for completion */
 594                                 result = poll_delay_min_max(40, 100);
 595                         }
 596                         break;
 597                 case state_jr3_init_use_offset_complete:
 598                         if (!is_complete(channel)) {
 599                                 result = poll_delay_min_max(20, 100);
 600                         } else {
 601                                 set_s16(&channel->offsets.fx, 0);
 602                                 set_s16(&channel->offsets.fy, 0);
 603                                 set_s16(&channel->offsets.fz, 0);
 604                                 set_s16(&channel->offsets.mx, 0);
 605                                 set_s16(&channel->offsets.my, 0);
 606                                 set_s16(&channel->offsets.mz, 0);
 607
 608                                 set_offset(channel);
 609
 610                                 p->state = state_jr3_done;
 611                         }
 612                         break;
 613                 case state_jr3_done:
 614                         poll_delay_min_max(10000, 20000);
 615                         break;
 616                 default:
 617                         poll_delay_min_max(1000, 2000);
 618                         break;
 619                 }
 620         }
 621         return result;
 622 }
 623
 624 static void jr3_pci_poll_dev(unsigned long data)
 625 {
 626         unsigned long flags;
 627         struct comedi_device *dev = (struct comedi_device *)data;
 628         struct jr3_pci_dev_private *devpriv = dev->private;
 629         unsigned long now;
 630         int delay;
 631         int i;
 632
 633         spin_lock_irqsave(&dev->spinlock, flags);
 634         delay = 1000;
 635         now = jiffies;
 636         /*  Poll all channels that are ready to be polled */
 637         for (i = 0; i < devpriv->n_channels; i++) {
 638                 struct jr3_pci_subdev_private *subdevpriv =
 639                         dev->subdevices[i].private;
 640                 if (now > subdevpriv->next_time_min) {
 641                         struct poll_delay_t sub_delay;
 642
 643                         sub_delay = jr3_pci_poll_subdevice(&dev->subdevices[i]);
 644                         subdevpriv->next_time_min =
 645                                 jiffies + msecs_to_jiffies(sub_delay.min);
 646                         subdevpriv->next_time_max =
 647                                 jiffies + msecs_to_jiffies(sub_delay.max);
 648                         if (sub_delay.max && sub_delay.max < delay)
 649                                 /*
 650                                  * Wake up as late as possible ->
 651                                  * poll as many channels as possible at once.
 652                                  */
 653                                 delay = sub_delay.max;
 654                 }
 655         }
 656         spin_unlock_irqrestore(&dev->spinlock, flags);
 657
 658         devpriv->timer.expires = jiffies + msecs_to_jiffies(delay);
 659         add_timer(&devpriv->timer);
 660 }
 661
 662 static int jr3_pci_auto_attach(struct comedi_device *dev,
 663                                          unsigned long context_unused)
 664 {
 665         int result;
 666         struct pci_dev *pcidev = comedi_to_pci_dev(dev);
 667         int i;
 668         struct jr3_pci_dev_private *devpriv;
 669
 670         if (sizeof(struct jr3_channel) != 0xc00) {
 671                 dev_err(dev->class_dev,
 672                         "sizeof(struct jr3_channel) = %x [expected %x]\n",
 673                         (unsigned)sizeof(struct jr3_channel), 0xc00);
 674                 return -EINVAL;
 675         }
 676
 677         devpriv = kzalloc(sizeof(*devpriv), GFP_KERNEL);
 678         if (!devpriv)
 679                 return -ENOMEM;
 680         dev->private = devpriv;
 681
 682         init_timer(&devpriv->timer);
 683         switch (pcidev->device) {
 684         case PCI_DEVICE_ID_JR3_1_CHANNEL:
 685         case PCI_DEVICE_ID_JR3_1_CHANNEL_NEW:
 686                 devpriv->n_channels = 1;
 687                 break;
 688         case PCI_DEVICE_ID_JR3_2_CHANNEL:
 689                 devpriv->n_channels = 2;
 690                 break;
 691         case PCI_DEVICE_ID_JR3_3_CHANNEL:
 692                 devpriv->n_channels = 3;
 693                 break;
 694         case PCI_DEVICE_ID_JR3_4_CHANNEL:
 695                 devpriv->n_channels = 4;
 696                 break;
 697         default:
 698                 dev_err(dev->class_dev, "jr3_pci: pci %s not supported\n",
 699                         pci_name(pcidev));
 700                 return -EINVAL;
 701                 break;
 702         }
 703
 704         result = comedi_pci_enable(dev);
 705         if (result)
 706                 return result;
 707
 708         devpriv->iobase = pci_ioremap_bar(pcidev, 0);
 709         if (!devpriv->iobase)
 710                 return -ENOMEM;
 711
 712         result = comedi_alloc_subdevices(dev, devpriv->n_channels);
 713         if (result)
 714                 return result;
 715
 716         dev->open = jr3_pci_open;
 717         for (i = 0; i < devpriv->n_channels; i++) {
 718                 dev->subdevices[i].type = COMEDI_SUBD_AI;
 719                 dev->subdevices[i].subdev_flags = SDF_READABLE | SDF_GROUND;
 720                 dev->subdevices[i].n_chan = 8 * 7 + 2;
 721                 dev->subdevices[i].insn_read = jr3_pci_ai_insn_read;
 722                 dev->subdevices[i].private =
 723                         kzalloc(sizeof(struct jr3_pci_subdev_private),
 724                                 GFP_KERNEL);
 725                 if (dev->subdevices[i].private) {
 726                         struct jr3_pci_subdev_private *p;
 727                         int j;
 728
 729                         p = dev->subdevices[i].private;
 730                         p->channel = &devpriv->iobase->channel[i].data;
 731                         dev_dbg(dev->class_dev, "p->channel %p %p (%tx)\n",
 732                                 p->channel, devpriv->iobase,
 733                                 ((char __iomem *)p->channel -
 734                                  (char __iomem *)devpriv->iobase));
 735                         p->channel_no = i;
 736                         for (j = 0; j < 8; j++) {
 737                                 int k;
 738
 739                                 p->range[j].length = 1;
 740                                 p->range[j].range.min = -1000000;
 741                                 p->range[j].range.max = 1000000;
 742                                 for (k = 0; k < 7; k++) {
 743                                         p->range_table_list[j + k * 8] =
 744                                             (struct comedi_lrange *)&p->
 745                                             range[j];
 746                                         p->maxdata_list[j + k * 8] = 0x7fff;
 747                                 }
 748                         }
 749                         p->range[8].length = 1;
 750                         p->range[8].range.min = 0;
 751                         p->range[8].range.max = 65536;
 752
 753                         p->range_table_list[56] =
 754                                 (struct comedi_lrange *)&p->range[8];
 755                         p->range_table_list[57] =
 756                                 (struct comedi_lrange *)&p->range[8];
 757                         p->maxdata_list[56] = 0xffff;
 758                         p->maxdata_list[57] = 0xffff;
 759                         /*  Channel specific range and maxdata */
 760                         dev->subdevices[i].range_table = NULL;
 761                         dev->subdevices[i].range_table_list =
 762                                 p->range_table_list;
 763                         dev->subdevices[i].maxdata = 0;
 764                         dev->subdevices[i].maxdata_list = p->maxdata_list;
 765                 }
 766         }
 767
 768         /*  Reset DSP card */
 769         writel(0, &devpriv->iobase->channel[0].reset);
 770
 771         result = comedi_load_firmware(dev, "jr3pci.idm", jr3_download_firmware);
 772         dev_dbg(dev->class_dev, "Firmare load %d\n", result);
 773
 774         if (result < 0)
 775                 return result;
 776         /*
 777          * TODO: use firmware to load preferred offset tables. Suggested
 778          * format:
 779          *     model serial Fx Fy Fz Mx My Mz\n
 780          *
 781          *     comedi_load_firmware(dev, "jr3_offsets_table",
 782          *                          jr3_download_firmware);
 783          */
 784
 785         /*
 786          * It takes a few milliseconds for software to settle as much as we
 787          * can read firmware version
 788          */
 789         msleep_interruptible(25);
 790         for (i = 0; i < 0x18; i++) {
 791                 dev_dbg(dev->class_dev, "%c\n",
 792                         get_u16(&devpriv->iobase->channel[0].
 793                                 data.copyright[i]) >> 8);
 794         }
 795
 796         /*  Start card timer */
 797         for (i = 0; i < devpriv->n_channels; i++) {
 798                 struct jr3_pci_subdev_private *p = dev->subdevices[i].private;
 799
 800                 p->next_time_min = jiffies + msecs_to_jiffies(500);
 801                 p->next_time_max = jiffies + msecs_to_jiffies(2000);
 802         }
 803
 804         devpriv->timer.data = (unsigned long)dev;
 805         devpriv->timer.function = jr3_pci_poll_dev;
 806         devpriv->timer.expires = jiffies + msecs_to_jiffies(1000);
 807         add_timer(&devpriv->timer);
 808
 809         return result;
 810 }
 811
 812 static void jr3_pci_detach(struct comedi_device *dev)
 813 {
 814         int i;
 815         struct jr3_pci_dev_private *devpriv = dev->private;
 816
 817         if (devpriv) {
 818                 del_timer_sync(&devpriv->timer);
 819
 820                 if (dev->subdevices) {
 821                         for (i = 0; i < devpriv->n_channels; i++)
 822                                 kfree(dev->subdevices[i].private);
 823                 }
 824                 if (devpriv->iobase)
 825                         iounmap(devpriv->iobase);
 826         }
 827         comedi_pci_disable(dev);
 828 }
 829
 830 static struct comedi_driver jr3_pci_driver = {
 831         .driver_name    = "jr3_pci",
 832         .module         = THIS_MODULE,
 833         .auto_attach    = jr3_pci_auto_attach,
 834         .detach         = jr3_pci_detach,
 835 };
 836
 837 static int jr3_pci_pci_probe(struct pci_dev *dev,
 838                              const struct pci_device_id *id)
 839 {
 840         return comedi_pci_auto_config(dev, &jr3_pci_driver, id->driver_data);
 841 }
 842
 843 static DEFINE_PCI_DEVICE_TABLE(jr3_pci_pci_table) = {
 844         { PCI_DEVICE(PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_1_CHANNEL) },
 845         { PCI_DEVICE(PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_1_CHANNEL_NEW) },
 846         { PCI_DEVICE(PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_2_CHANNEL) },
 847         { PCI_DEVICE(PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_3_CHANNEL) },
 848         { PCI_DEVICE(PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_4_CHANNEL) },
 849         { 0 }
 850 };
 851 MODULE_DEVICE_TABLE(pci, jr3_pci_pci_table);
 852
 853 static struct pci_driver jr3_pci_pci_driver = {
 854         .name           = "jr3_pci",
 855         .id_table       = jr3_pci_pci_table,
 856         .probe          = jr3_pci_pci_probe,
 857         .remove         = comedi_pci_auto_unconfig,
 858 };
 859 module_comedi_pci_driver(jr3_pci_driver, jr3_pci_pci_driver);
 860
 861 MODULE_AUTHOR("Comedi http://www.comedi.org");
 862 MODULE_DESCRIPTION("Comedi low-level driver");
 863 MODULE_LICENSE("GPL");
 864 MODULE_FIRMWARE("comedi/jr3pci.idm");