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#include <linux/comedi/comedi_pci.h>
39
40#include "jr3_pci.h"
41
42#define PCI_VENDOR_ID_JR3 0x1762
43
44enum jr3_pci_boardid {
45 BOARD_JR3_1,
46 BOARD_JR3_2,
47 BOARD_JR3_3,
48 BOARD_JR3_4,
49};
50
51struct jr3_pci_board {
52 const char *name;
53 int n_subdevs;
54};
55
56static const struct jr3_pci_board jr3_pci_boards[] = {
57 [BOARD_JR3_1] = {
58 .name = "jr3_pci_1",
59 .n_subdevs = 1,
60 },
61 [BOARD_JR3_2] = {
62 .name = "jr3_pci_2",
63 .n_subdevs = 2,
64 },
65 [BOARD_JR3_3] = {
66 .name = "jr3_pci_3",
67 .n_subdevs = 3,
68 },
69 [BOARD_JR3_4] = {
70 .name = "jr3_pci_4",
71 .n_subdevs = 4,
72 },
73};
74
75struct jr3_pci_transform {
76 struct {
77 u16 link_type;
78 s16 link_amount;
79 } link[8];
80};
81
82struct jr3_pci_poll_delay {
83 int min;
84 int max;
85};
86
87struct jr3_pci_dev_private {
88 struct timer_list timer;
89 struct comedi_device *dev;
90};
91
92union jr3_pci_single_range {
93 struct comedi_lrange l;
94 char _reserved[offsetof(struct comedi_lrange, range[1])];
95};
96
97enum jr3_pci_poll_state {
98 state_jr3_poll,
99 state_jr3_init_wait_for_offset,
100 state_jr3_init_transform_complete,
101 state_jr3_init_set_full_scale_complete,
102 state_jr3_init_use_offset_complete,
103 state_jr3_done
104};
105
106struct jr3_pci_subdev_private {
107 struct jr3_sensor __iomem *sensor;
108 unsigned long next_time_min;
109 enum jr3_pci_poll_state state;
110 int serial_no;
111 int model_no;
112 union jr3_pci_single_range range[9];
113 const struct comedi_lrange *range_table_list[8 * 7 + 2];
114 unsigned int maxdata_list[8 * 7 + 2];
115 u16 errors;
116 int retries;
117};
118
119static struct jr3_pci_poll_delay poll_delay_min_max(int min, int max)
120{
121 struct jr3_pci_poll_delay result;
122
123 result.min = min;
124 result.max = max;
125 return result;
126}
127
128static int is_complete(struct jr3_sensor __iomem *sensor)
129{
130 return get_s16(p: &sensor->command_word0) == 0;
131}
132
133static void set_transforms(struct jr3_sensor __iomem *sensor,
134 const struct jr3_pci_transform *transf, short num)
135{
136 int i;
137
138 num &= 0x000f; /* Make sure that 0 <= num <= 15 */
139 for (i = 0; i < 8; i++) {
140 set_u16(p: &sensor->transforms[num].link[i].link_type,
141 val: transf->link[i].link_type);
142 udelay(usec: 1);
143 set_s16(p: &sensor->transforms[num].link[i].link_amount,
144 val: transf->link[i].link_amount);
145 udelay(usec: 1);
146 if (transf->link[i].link_type == end_x_form)
147 break;
148 }
149}
150
151static void use_transform(struct jr3_sensor __iomem *sensor,
152 short transf_num)
153{
154 set_s16(p: &sensor->command_word0, val: 0x0500 + (transf_num & 0x000f));
155}
156
157static void use_offset(struct jr3_sensor __iomem *sensor, short offset_num)
158{
159 set_s16(p: &sensor->command_word0, val: 0x0600 + (offset_num & 0x000f));
160}
161
162static void set_offset(struct jr3_sensor __iomem *sensor)
163{
164 set_s16(p: &sensor->command_word0, val: 0x0700);
165}
166
167struct six_axis_t {
168 s16 fx;
169 s16 fy;
170 s16 fz;
171 s16 mx;
172 s16 my;
173 s16 mz;
174};
175
176static void set_full_scales(struct jr3_sensor __iomem *sensor,
177 struct six_axis_t full_scale)
178{
179 set_s16(p: &sensor->full_scale.fx, val: full_scale.fx);
180 set_s16(p: &sensor->full_scale.fy, val: full_scale.fy);
181 set_s16(p: &sensor->full_scale.fz, val: full_scale.fz);
182 set_s16(p: &sensor->full_scale.mx, val: full_scale.mx);
183 set_s16(p: &sensor->full_scale.my, val: full_scale.my);
184 set_s16(p: &sensor->full_scale.mz, val: full_scale.mz);
185 set_s16(p: &sensor->command_word0, val: 0x0a00);
186}
187
188static struct six_axis_t get_max_full_scales(struct jr3_sensor __iomem *sensor)
189{
190 struct six_axis_t result;
191
192 result.fx = get_s16(p: &sensor->max_full_scale.fx);
193 result.fy = get_s16(p: &sensor->max_full_scale.fy);
194 result.fz = get_s16(p: &sensor->max_full_scale.fz);
195 result.mx = get_s16(p: &sensor->max_full_scale.mx);
196 result.my = get_s16(p: &sensor->max_full_scale.my);
197 result.mz = get_s16(p: &sensor->max_full_scale.mz);
198 return result;
199}
200
201static unsigned int jr3_pci_ai_read_chan(struct comedi_device *dev,
202 struct comedi_subdevice *s,
203 unsigned int chan)
204{
205 struct jr3_pci_subdev_private *spriv = s->private;
206 unsigned int val = 0;
207
208 if (spriv->state != state_jr3_done)
209 return 0;
210
211 if (chan < 56) {
212 unsigned int axis = chan % 8;
213 unsigned int filter = chan / 8;
214
215 switch (axis) {
216 case 0:
217 val = get_s16(p: &spriv->sensor->filter[filter].fx);
218 break;
219 case 1:
220 val = get_s16(p: &spriv->sensor->filter[filter].fy);
221 break;
222 case 2:
223 val = get_s16(p: &spriv->sensor->filter[filter].fz);
224 break;
225 case 3:
226 val = get_s16(p: &spriv->sensor->filter[filter].mx);
227 break;
228 case 4:
229 val = get_s16(p: &spriv->sensor->filter[filter].my);
230 break;
231 case 5:
232 val = get_s16(p: &spriv->sensor->filter[filter].mz);
233 break;
234 case 6:
235 val = get_s16(p: &spriv->sensor->filter[filter].v1);
236 break;
237 case 7:
238 val = get_s16(p: &spriv->sensor->filter[filter].v2);
239 break;
240 }
241 val += 0x4000;
242 } else if (chan == 56) {
243 val = get_u16(p: &spriv->sensor->model_no);
244 } else if (chan == 57) {
245 val = get_u16(p: &spriv->sensor->serial_no);
246 }
247
248 return val;
249}
250
251static int jr3_pci_ai_insn_read(struct comedi_device *dev,
252 struct comedi_subdevice *s,
253 struct comedi_insn *insn,
254 unsigned int *data)
255{
256 struct jr3_pci_subdev_private *spriv = s->private;
257 unsigned int chan = CR_CHAN(insn->chanspec);
258 u16 errors;
259 int i;
260
261 errors = get_u16(p: &spriv->sensor->errors);
262 if (spriv->state != state_jr3_done ||
263 (errors & (watch_dog | watch_dog2 | sensor_change))) {
264 /* No sensor or sensor changed */
265 if (spriv->state == state_jr3_done) {
266 /* Restart polling */
267 spriv->state = state_jr3_poll;
268 }
269 return -EAGAIN;
270 }
271
272 for (i = 0; i < insn->n; i++)
273 data[i] = jr3_pci_ai_read_chan(dev, s, chan);
274
275 return insn->n;
276}
277
278static int jr3_pci_open(struct comedi_device *dev)
279{
280 struct jr3_pci_subdev_private *spriv;
281 struct comedi_subdevice *s;
282 int i;
283
284 for (i = 0; i < dev->n_subdevices; i++) {
285 s = &dev->subdevices[i];
286 spriv = s->private;
287 dev_dbg(dev->class_dev, "serial[%d]: %d\n", s->index,
288 spriv->serial_no);
289 }
290 return 0;
291}
292
293static int read_idm_word(const u8 *data, size_t size, int *pos,
294 unsigned int *val)
295{
296 int result = 0;
297 int value;
298
299 if (pos && val) {
300 /* Skip over non hex */
301 for (; *pos < size && !isxdigit(data[*pos]); (*pos)++)
302 ;
303 /* Collect value */
304 *val = 0;
305 for (; *pos < size; (*pos)++) {
306 value = hex_to_bin(ch: data[*pos]);
307 if (value >= 0) {
308 result = 1;
309 *val = (*val << 4) + value;
310 } else {
311 break;
312 }
313 }
314 }
315 return result;
316}
317
318static int jr3_check_firmware(struct comedi_device *dev,
319 const u8 *data, size_t size)
320{
321 int more = 1;
322 int pos = 0;
323
324 /*
325 * IDM file format is:
326 * { count, address, data <count> } *
327 * ffff
328 */
329 while (more) {
330 unsigned int count = 0;
331 unsigned int addr = 0;
332
333 more = more && read_idm_word(data, size, pos: &pos, val: &count);
334 if (more && count == 0xffff)
335 return 0;
336
337 more = more && read_idm_word(data, size, pos: &pos, val: &addr);
338 while (more && count > 0) {
339 unsigned int dummy = 0;
340
341 more = more && read_idm_word(data, size, pos: &pos, val: &dummy);
342 count--;
343 }
344 }
345
346 return -ENODATA;
347}
348
349static void jr3_write_firmware(struct comedi_device *dev,
350 int subdev, const u8 *data, size_t size)
351{
352 struct jr3_block __iomem *block = dev->mmio;
353 u32 __iomem *lo;
354 u32 __iomem *hi;
355 int more = 1;
356 int pos = 0;
357
358 while (more) {
359 unsigned int count = 0;
360 unsigned int addr = 0;
361
362 more = more && read_idm_word(data, size, pos: &pos, val: &count);
363 if (more && count == 0xffff)
364 return;
365
366 more = more && read_idm_word(data, size, pos: &pos, val: &addr);
367
368 dev_dbg(dev->class_dev, "Loading#%d %4.4x bytes at %4.4x\n",
369 subdev, count, addr);
370
371 while (more && count > 0) {
372 if (addr & 0x4000) {
373 /* 16 bit data, never seen in real life!! */
374 unsigned int data1 = 0;
375
376 more = more &&
377 read_idm_word(data, size, pos: &pos, val: &data1);
378 count--;
379 /* jr3[addr + 0x20000 * pnum] = data1; */
380 } else {
381 /* Download 24 bit program */
382 unsigned int data1 = 0;
383 unsigned int data2 = 0;
384
385 lo = &block[subdev].program_lo[addr];
386 hi = &block[subdev].program_hi[addr];
387
388 more = more &&
389 read_idm_word(data, size, pos: &pos, val: &data1);
390 more = more &&
391 read_idm_word(data, size, pos: &pos, val: &data2);
392 count -= 2;
393 if (more) {
394 set_u16(p: lo, val: data1);
395 udelay(usec: 1);
396 set_u16(p: hi, val: data2);
397 udelay(usec: 1);
398 }
399 }
400 addr++;
401 }
402 }
403}
404
405static int jr3_download_firmware(struct comedi_device *dev,
406 const u8 *data, size_t size,
407 unsigned long context)
408{
409 int subdev;
410 int ret;
411
412 /* verify IDM file format */
413 ret = jr3_check_firmware(dev, data, size);
414 if (ret)
415 return ret;
416
417 /* write firmware to each subdevice */
418 for (subdev = 0; subdev < dev->n_subdevices; subdev++)
419 jr3_write_firmware(dev, subdev, data, size);
420
421 return 0;
422}
423
424static struct jr3_pci_poll_delay
425jr3_pci_poll_subdevice(struct comedi_subdevice *s)
426{
427 struct jr3_pci_subdev_private *spriv = s->private;
428 struct jr3_pci_poll_delay result = poll_delay_min_max(min: 1000, max: 2000);
429 struct jr3_sensor __iomem *sensor;
430 u16 model_no;
431 u16 serial_no;
432 int errors;
433 int i;
434
435 sensor = spriv->sensor;
436 errors = get_u16(p: &sensor->errors);
437
438 if (errors != spriv->errors)
439 spriv->errors = errors;
440
441 /* Sensor communication lost? force poll mode */
442 if (errors & (watch_dog | watch_dog2 | sensor_change))
443 spriv->state = state_jr3_poll;
444
445 switch (spriv->state) {
446 case state_jr3_poll:
447 model_no = get_u16(p: &sensor->model_no);
448 serial_no = get_u16(p: &sensor->serial_no);
449
450 if ((errors & (watch_dog | watch_dog2)) ||
451 model_no == 0 || serial_no == 0) {
452 /*
453 * Still no sensor, keep on polling.
454 * Since it takes up to 10 seconds for offsets to
455 * stabilize, polling each second should suffice.
456 */
457 } else {
458 spriv->retries = 0;
459 spriv->state = state_jr3_init_wait_for_offset;
460 }
461 break;
462 case state_jr3_init_wait_for_offset:
463 spriv->retries++;
464 if (spriv->retries < 10) {
465 /*
466 * Wait for offeset to stabilize
467 * (< 10 s according to manual)
468 */
469 } else {
470 struct jr3_pci_transform transf;
471
472 spriv->model_no = get_u16(p: &sensor->model_no);
473 spriv->serial_no = get_u16(p: &sensor->serial_no);
474
475 /* Transformation all zeros */
476 for (i = 0; i < ARRAY_SIZE(transf.link); i++) {
477 transf.link[i].link_type = (enum link_types)0;
478 transf.link[i].link_amount = 0;
479 }
480
481 set_transforms(sensor, transf: &transf, num: 0);
482 use_transform(sensor, transf_num: 0);
483 spriv->state = state_jr3_init_transform_complete;
484 /* Allow 20 ms for completion */
485 result = poll_delay_min_max(min: 20, max: 100);
486 }
487 break;
488 case state_jr3_init_transform_complete:
489 if (!is_complete(sensor)) {
490 result = poll_delay_min_max(min: 20, max: 100);
491 } else {
492 /* Set full scale */
493 struct six_axis_t max_full_scale;
494
495 max_full_scale = get_max_full_scales(sensor);
496 set_full_scales(sensor, full_scale: max_full_scale);
497
498 spriv->state = state_jr3_init_set_full_scale_complete;
499 /* Allow 20 ms for completion */
500 result = poll_delay_min_max(min: 20, max: 100);
501 }
502 break;
503 case state_jr3_init_set_full_scale_complete:
504 if (!is_complete(sensor)) {
505 result = poll_delay_min_max(min: 20, max: 100);
506 } else {
507 struct force_array __iomem *fs = &sensor->full_scale;
508 union jr3_pci_single_range *r = spriv->range;
509
510 /* Use ranges in kN or we will overflow around 2000N! */
511 r[0].l.range[0].min = -get_s16(p: &fs->fx) * 1000;
512 r[0].l.range[0].max = get_s16(p: &fs->fx) * 1000;
513 r[1].l.range[0].min = -get_s16(p: &fs->fy) * 1000;
514 r[1].l.range[0].max = get_s16(p: &fs->fy) * 1000;
515 r[2].l.range[0].min = -get_s16(p: &fs->fz) * 1000;
516 r[2].l.range[0].max = get_s16(p: &fs->fz) * 1000;
517 r[3].l.range[0].min = -get_s16(p: &fs->mx) * 100;
518 r[3].l.range[0].max = get_s16(p: &fs->mx) * 100;
519 r[4].l.range[0].min = -get_s16(p: &fs->my) * 100;
520 r[4].l.range[0].max = get_s16(p: &fs->my) * 100;
521 r[5].l.range[0].min = -get_s16(p: &fs->mz) * 100;
522 /* the next five are questionable */
523 r[5].l.range[0].max = get_s16(p: &fs->mz) * 100;
524 r[6].l.range[0].min = -get_s16(p: &fs->v1) * 100;
525 r[6].l.range[0].max = get_s16(p: &fs->v1) * 100;
526 r[7].l.range[0].min = -get_s16(p: &fs->v2) * 100;
527 r[7].l.range[0].max = get_s16(p: &fs->v2) * 100;
528 r[8].l.range[0].min = 0;
529 r[8].l.range[0].max = 65535;
530
531 use_offset(sensor, offset_num: 0);
532 spriv->state = state_jr3_init_use_offset_complete;
533 /* Allow 40 ms for completion */
534 result = poll_delay_min_max(min: 40, max: 100);
535 }
536 break;
537 case state_jr3_init_use_offset_complete:
538 if (!is_complete(sensor)) {
539 result = poll_delay_min_max(min: 20, max: 100);
540 } else {
541 set_s16(p: &sensor->offsets.fx, val: 0);
542 set_s16(p: &sensor->offsets.fy, val: 0);
543 set_s16(p: &sensor->offsets.fz, val: 0);
544 set_s16(p: &sensor->offsets.mx, val: 0);
545 set_s16(p: &sensor->offsets.my, val: 0);
546 set_s16(p: &sensor->offsets.mz, val: 0);
547
548 set_offset(sensor);
549
550 spriv->state = state_jr3_done;
551 }
552 break;
553 case state_jr3_done:
554 result = poll_delay_min_max(min: 10000, max: 20000);
555 break;
556 default:
557 break;
558 }
559
560 return result;
561}
562
563static void jr3_pci_poll_dev(struct timer_list *t)
564{
565 struct jr3_pci_dev_private *devpriv = timer_container_of(devpriv, t,
566 timer);
567 struct comedi_device *dev = devpriv->dev;
568 struct jr3_pci_subdev_private *spriv;
569 struct comedi_subdevice *s;
570 unsigned long flags;
571 unsigned long now;
572 int delay;
573 int i;
574
575 spin_lock_irqsave(&dev->spinlock, flags);
576 delay = 1000;
577 now = jiffies;
578
579 /* Poll all sensors that are ready to be polled */
580 for (i = 0; i < dev->n_subdevices; i++) {
581 s = &dev->subdevices[i];
582 spriv = s->private;
583
584 if (time_after_eq(now, spriv->next_time_min)) {
585 struct jr3_pci_poll_delay sub_delay;
586
587 sub_delay = jr3_pci_poll_subdevice(s);
588
589 spriv->next_time_min = jiffies +
590 msecs_to_jiffies(m: sub_delay.min);
591
592 if (sub_delay.max && sub_delay.max < delay)
593 /*
594 * Wake up as late as possible ->
595 * poll as many sensors as possible at once.
596 */
597 delay = sub_delay.max;
598 }
599 }
600 spin_unlock_irqrestore(lock: &dev->spinlock, flags);
601
602 devpriv->timer.expires = jiffies + msecs_to_jiffies(m: delay);
603 add_timer(timer: &devpriv->timer);
604}
605
606static struct jr3_pci_subdev_private *
607jr3_pci_alloc_spriv(struct comedi_device *dev, struct comedi_subdevice *s)
608{
609 struct jr3_block __iomem *block = dev->mmio;
610 struct jr3_pci_subdev_private *spriv;
611 int j;
612 int k;
613
614 spriv = comedi_alloc_spriv(s, size: sizeof(*spriv));
615 if (!spriv)
616 return NULL;
617
618 spriv->sensor = &block[s->index].sensor;
619
620 for (j = 0; j < 8; j++) {
621 spriv->range[j].l.length = 1;
622 spriv->range[j].l.range[0].min = -1000000;
623 spriv->range[j].l.range[0].max = 1000000;
624
625 for (k = 0; k < 7; k++) {
626 spriv->range_table_list[j + k * 8] = &spriv->range[j].l;
627 spriv->maxdata_list[j + k * 8] = 0x7fff;
628 }
629 }
630 spriv->range[8].l.length = 1;
631 spriv->range[8].l.range[0].min = 0;
632 spriv->range[8].l.range[0].max = 65535;
633
634 spriv->range_table_list[56] = &spriv->range[8].l;
635 spriv->range_table_list[57] = &spriv->range[8].l;
636 spriv->maxdata_list[56] = 0xffff;
637 spriv->maxdata_list[57] = 0xffff;
638
639 return spriv;
640}
641
642static void jr3_pci_show_copyright(struct comedi_device *dev)
643{
644 struct jr3_block __iomem *block = dev->mmio;
645 struct jr3_sensor __iomem *sensor0 = &block[0].sensor;
646 char copy[ARRAY_SIZE(sensor0->copyright) + 1];
647 int i;
648
649 for (i = 0; i < ARRAY_SIZE(sensor0->copyright); i++)
650 copy[i] = (char)(get_u16(p: &sensor0->copyright[i]) >> 8);
651 copy[i] = '\0';
652 dev_dbg(dev->class_dev, "Firmware copyright: %s\n", copy);
653}
654
655static int jr3_pci_auto_attach(struct comedi_device *dev,
656 unsigned long context)
657{
658 struct pci_dev *pcidev = comedi_to_pci_dev(dev);
659 static const struct jr3_pci_board *board;
660 struct jr3_pci_dev_private *devpriv;
661 struct jr3_pci_subdev_private *spriv;
662 struct jr3_block __iomem *block;
663 struct comedi_subdevice *s;
664 int ret;
665 int i;
666
667 BUILD_BUG_ON(sizeof(struct jr3_block) != 0x80000);
668
669 if (context < ARRAY_SIZE(jr3_pci_boards))
670 board = &jr3_pci_boards[context];
671 if (!board)
672 return -ENODEV;
673 dev->board_ptr = board;
674 dev->board_name = board->name;
675
676 devpriv = comedi_alloc_devpriv(dev, size: sizeof(*devpriv));
677 if (!devpriv)
678 return -ENOMEM;
679
680 ret = comedi_pci_enable(dev);
681 if (ret)
682 return ret;
683
684 if (pci_resource_len(pcidev, 0) < board->n_subdevs * sizeof(*block))
685 return -ENXIO;
686
687 dev->mmio = pci_ioremap_bar(pdev: pcidev, bar: 0);
688 if (!dev->mmio)
689 return -ENOMEM;
690
691 block = dev->mmio;
692
693 ret = comedi_alloc_subdevices(dev, num_subdevices: board->n_subdevs);
694 if (ret)
695 return ret;
696
697 dev->open = jr3_pci_open;
698 for (i = 0; i < dev->n_subdevices; i++) {
699 s = &dev->subdevices[i];
700 s->type = COMEDI_SUBD_AI;
701 s->subdev_flags = SDF_READABLE | SDF_GROUND;
702 s->n_chan = 8 * 7 + 2;
703 s->insn_read = jr3_pci_ai_insn_read;
704
705 spriv = jr3_pci_alloc_spriv(dev, s);
706 if (!spriv)
707 return -ENOMEM;
708
709 /* Channel specific range and maxdata */
710 s->range_table_list = spriv->range_table_list;
711 s->maxdata_list = spriv->maxdata_list;
712 }
713
714 /* Reset DSP card */
715 for (i = 0; i < dev->n_subdevices; i++)
716 writel(val: 0, addr: &block[i].reset);
717
718 ret = comedi_load_firmware(dev, hw_dev: &comedi_to_pci_dev(dev)->dev,
719 name: "comedi/jr3pci.idm",
720 cb: jr3_download_firmware, context: 0);
721 dev_dbg(dev->class_dev, "Firmware load %d\n", ret);
722 if (ret < 0)
723 return ret;
724 /*
725 * TODO: use firmware to load preferred offset tables. Suggested
726 * format:
727 * model serial Fx Fy Fz Mx My Mz\n
728 *
729 * comedi_load_firmware(dev, &comedi_to_pci_dev(dev)->dev,
730 * "comedi/jr3_offsets_table",
731 * jr3_download_firmware, 1);
732 */
733
734 /*
735 * It takes a few milliseconds for software to settle as much as we
736 * can read firmware version
737 */
738 msleep_interruptible(msecs: 25);
739 jr3_pci_show_copyright(dev);
740
741 /* Start card timer */
742 for (i = 0; i < dev->n_subdevices; i++) {
743 s = &dev->subdevices[i];
744 spriv = s->private;
745
746 spriv->next_time_min = jiffies + msecs_to_jiffies(m: 500);
747 }
748
749 devpriv->dev = dev;
750 timer_setup(&devpriv->timer, jr3_pci_poll_dev, 0);
751 devpriv->timer.expires = jiffies + msecs_to_jiffies(m: 1000);
752 add_timer(timer: &devpriv->timer);
753
754 return 0;
755}
756
757static void jr3_pci_detach(struct comedi_device *dev)
758{
759 struct jr3_pci_dev_private *devpriv = dev->private;
760
761 if (devpriv)
762 timer_shutdown_sync(timer: &devpriv->timer);
763
764 comedi_pci_detach(dev);
765}
766
767static struct comedi_driver jr3_pci_driver = {
768 .driver_name = "jr3_pci",
769 .module = THIS_MODULE,
770 .auto_attach = jr3_pci_auto_attach,
771 .detach = jr3_pci_detach,
772};
773
774static int jr3_pci_pci_probe(struct pci_dev *dev,
775 const struct pci_device_id *id)
776{
777 return comedi_pci_auto_config(pcidev: dev, driver: &jr3_pci_driver, context: id->driver_data);
778}
779
780static const struct pci_device_id jr3_pci_pci_table[] = {
781 { PCI_VDEVICE(JR3, 0x1111), BOARD_JR3_1 },
782 { PCI_VDEVICE(JR3, 0x3111), BOARD_JR3_1 },
783 { PCI_VDEVICE(JR3, 0x3112), BOARD_JR3_2 },
784 { PCI_VDEVICE(JR3, 0x3113), BOARD_JR3_3 },
785 { PCI_VDEVICE(JR3, 0x3114), BOARD_JR3_4 },
786 { 0 }
787};
788MODULE_DEVICE_TABLE(pci, jr3_pci_pci_table);
789
790static struct pci_driver jr3_pci_pci_driver = {
791 .name = "jr3_pci",
792 .id_table = jr3_pci_pci_table,
793 .probe = jr3_pci_pci_probe,
794 .remove = comedi_pci_auto_unconfig,
795};
796module_comedi_pci_driver(jr3_pci_driver, jr3_pci_pci_driver);
797
798MODULE_AUTHOR("Comedi https://www.comedi.org");
799MODULE_DESCRIPTION("Comedi driver for JR3/PCI force sensor board");
800MODULE_LICENSE("GPL");
801MODULE_FIRMWARE("comedi/jr3pci.idm");
802

source code of linux/drivers/comedi/drivers/jr3_pci.c