diff options
Diffstat (limited to 'drivers/staging/comedi/drivers/jr3_pci.c')
| -rw-r--r-- | drivers/staging/comedi/drivers/jr3_pci.c | 298 |
1 files changed, 156 insertions, 142 deletions
diff --git a/drivers/staging/comedi/drivers/jr3_pci.c b/drivers/staging/comedi/drivers/jr3_pci.c index e3c3adc282e2..14bf29bf5781 100644 --- a/drivers/staging/comedi/drivers/jr3_pci.c +++ b/drivers/staging/comedi/drivers/jr3_pci.c @@ -56,7 +56,8 @@ Devices: [JR3] PCI force sensor board (jr3_pci) #define PCI_DEVICE_ID_JR3_3_CHANNEL 0x3113 #define PCI_DEVICE_ID_JR3_4_CHANNEL 0x3114 -static int jr3_pci_attach(struct comedi_device *dev, struct comedi_devconfig *it); +static int jr3_pci_attach(struct comedi_device *dev, + struct comedi_devconfig *it); static int jr3_pci_detach(struct comedi_device *dev); static struct comedi_driver driver_jr3_pci = { @@ -67,15 +68,16 @@ static struct comedi_driver driver_jr3_pci = { }; static DEFINE_PCI_DEVICE_TABLE(jr3_pci_pci_table) = { - {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} + { + 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); @@ -89,14 +91,12 @@ struct jr3_pci_dev_private { struct timer_list timer; }; - struct poll_delay_t { int min; int max; }; - struct jr3_pci_subdev_private { volatile struct jr3_channel *channel; unsigned long next_time_min; @@ -124,7 +124,7 @@ struct jr3_pci_subdev_private { /* Hotplug firmware loading stuff */ typedef int comedi_firmware_callback(struct comedi_device *dev, - const u8 *data, size_t size); + const u8 * data, size_t size); static int comedi_load_firmware(struct comedi_device *dev, char *name, comedi_firmware_callback cb) @@ -143,7 +143,7 @@ static int comedi_load_firmware(struct comedi_device *dev, char *name, strcat(firmware_path, prefix); strcat(firmware_path, name); result = request_firmware(&fw, firmware_path, - &devpriv->pci_dev->dev); + &devpriv->pci_dev->dev); if (result == 0) { if (!cb) result = -EINVAL; @@ -178,7 +178,7 @@ struct transform_t { }; static void set_transforms(volatile struct jr3_channel *channel, - struct transform_t transf, short num) + struct transform_t transf, short num) { int i; @@ -197,7 +197,8 @@ static void set_transforms(volatile struct jr3_channel *channel, } } -static void use_transform(volatile struct jr3_channel *channel, short transf_num) +static void use_transform(volatile struct jr3_channel *channel, + short transf_num) { set_s16(&channel->command_word0, 0x0500 + (transf_num & 0x000f)); } @@ -222,12 +223,12 @@ struct six_axis_t { }; static void set_full_scales(volatile struct jr3_channel *channel, - struct six_axis_t full_scale) + struct 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); + 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); @@ -237,7 +238,8 @@ static void set_full_scales(volatile struct jr3_channel *channel, set_s16(&channel->command_word0, 0x0a00); } -static struct six_axis_t get_min_full_scales(volatile struct jr3_channel *channel) +static struct six_axis_t get_min_full_scales(volatile struct jr3_channel + *channel) { struct six_axis_t result; result.fx = get_s16(&channel->min_full_scale.fx); @@ -249,7 +251,8 @@ static struct six_axis_t get_min_full_scales(volatile struct jr3_channel *channe return result; } -static struct six_axis_t get_max_full_scales(volatile struct jr3_channel *channel) +static struct six_axis_t get_max_full_scales(volatile struct jr3_channel + *channel) { struct six_axis_t result; result.fx = get_s16(&channel->max_full_scale.fx); @@ -261,8 +264,9 @@ static struct six_axis_t get_max_full_scales(volatile struct jr3_channel *channe return result; } -static int jr3_pci_ai_insn_read(struct comedi_device *dev, struct comedi_subdevice *s, - struct comedi_insn *insn, unsigned int *data) +static int jr3_pci_ai_insn_read(struct comedi_device *dev, + struct comedi_subdevice *s, + struct comedi_insn *insn, unsigned int *data) { int result; struct jr3_pci_subdev_private *p; @@ -277,9 +281,8 @@ static int jr3_pci_ai_insn_read(struct comedi_device *dev, struct comedi_subdevi result = insn->n; if (p->state != state_jr3_done || - (get_u16(&p->channel-> - errors) & (watch_dog | watch_dog2 | - sensor_change))) { + (get_u16(&p->channel->errors) & (watch_dog | watch_dog2 | + sensor_change))) { /* No sensor or sensor changed */ if (p->state == state_jr3_done) { /* Restart polling */ @@ -299,59 +302,51 @@ static int jr3_pci_ai_insn_read(struct comedi_device *dev, struct comedi_subdevi int F = 0; switch (axis) { case 0:{ - F = get_s16(&p-> - channel-> - filter[filter]. - fx); + F = get_s16 + (&p->channel->filter + [filter].fx); } break; case 1:{ - F = get_s16(&p-> - channel-> - filter[filter]. - fy); + F = get_s16 + (&p->channel->filter + [filter].fy); } break; case 2:{ - F = get_s16(&p-> - channel-> - filter[filter]. - fz); + F = get_s16 + (&p->channel->filter + [filter].fz); } break; case 3:{ - F = get_s16(&p-> - channel-> - filter[filter]. - mx); + F = get_s16 + (&p->channel->filter + [filter].mx); } break; case 4:{ - F = get_s16(&p-> - channel-> - filter[filter]. - my); + F = get_s16 + (&p->channel->filter + [filter].my); } break; case 5:{ - F = get_s16(&p-> - channel-> - filter[filter]. - mz); + F = get_s16 + (&p->channel->filter + [filter].mz); } break; case 6:{ - F = get_s16(&p-> - channel-> - filter[filter]. - v1); + F = get_s16 + (&p->channel->filter + [filter].v1); } break; case 7:{ - F = get_s16(&p-> - channel-> - filter[filter]. - v2); + F = get_s16 + (&p->channel->filter + [filter].v2); } break; } @@ -362,14 +357,14 @@ static int jr3_pci_ai_insn_read(struct comedi_device *dev, struct comedi_subdevi data[i] = 0; } else { data[i] = - get_u16(&p->channel->model_no); + 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); + get_u16(&p->channel->serial_no); } } } @@ -389,12 +384,12 @@ static void jr3_pci_open(struct comedi_device *dev) p = dev->subdevices[i].private; if (p) { printk("serial: %p %d (%d)\n", p, p->serial_no, - p->channel_no); + p->channel_no); } } } -int read_idm_word(const u8 *data, size_t size, int *pos, unsigned int *val) +int read_idm_word(const u8 * data, size_t size, int *pos, unsigned int *val) { int result = 0; if (pos != 0 && val != 0) { @@ -416,8 +411,8 @@ int read_idm_word(const u8 *data, size_t size, int *pos, unsigned int *val) return result; } -static int jr3_download_firmware(struct comedi_device *dev, const u8 *data, - size_t size) +static int jr3_download_firmware(struct comedi_device *dev, const u8 * data, + size_t size) { /* * IDM file format is: @@ -461,24 +456,23 @@ static int jr3_download_firmware(struct comedi_device *dev, const u8 *data, while (more) { unsigned int count, addr; more = more - && read_idm_word(data, size, &pos, - &count); + && read_idm_word(data, size, &pos, &count); if (more && count == 0xffff) { break; } more = more - && read_idm_word(data, size, &pos, - &addr); + && read_idm_word(data, size, &pos, &addr); printk("Loading#%d %4.4x bytes at %4.4x\n", i, - count, addr); + 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); + && read_idm_word(data, + size, &pos, + &data1); count--; /* printk("jr3_data, not tested\n"); */ /* jr3[addr + 0x20000 * pnum] = data1; */ @@ -487,21 +481,23 @@ static int jr3_download_firmware(struct comedi_device *dev, const u8 *data, unsigned int data1, data2; more = more - && read_idm_word(data, - size, &pos, &data1); + && read_idm_word(data, + size, &pos, + &data1); more = more - && read_idm_word(data, - size, &pos, &data2); + && read_idm_word(data, size, + &pos, + &data2); count -= 2; if (more) { - set_u16(&p->iobase-> - channel[i]. - program_low + set_u16(&p-> + iobase->channel + [i].program_low [addr], data1); udelay(1); - set_u16(&p->iobase-> - channel[i]. - program_high + set_u16(&p-> + iobase->channel + [i].program_high [addr], data2); udelay(1); @@ -538,7 +534,7 @@ static struct poll_delay_t jr3_pci_poll_subdevice(struct comedi_subdevice *s) u16 model_no = get_u16(&channel->model_no); u16 serial_no = get_u16(&channel->serial_no); if ((errors & (watch_dog | watch_dog2)) || - model_no == 0 || serial_no == 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. @@ -547,7 +543,7 @@ static struct poll_delay_t jr3_pci_poll_subdevice(struct comedi_subdevice *s) } else { p->retries = 0; p->state = - state_jr3_init_wait_for_offset; + state_jr3_init_wait_for_offset; result = poll_delay_min_max(1000, 2000); } } @@ -561,40 +557,44 @@ static struct poll_delay_t jr3_pci_poll_subdevice(struct comedi_subdevice *s) struct transform_t transf; p->model_no = - get_u16(&channel->model_no); + get_u16(&channel->model_no); p->serial_no = - get_u16(&channel->serial_no); + get_u16(&channel->serial_no); - printk("Setting transform for channel %d\n", p->channel_no); + printk + ("Setting transform for channel %d\n", + p->channel_no); printk("Sensor Model = %i\n", - p->model_no); + p->model_no); printk("Sensor Serial = %i\n", - p->serial_no); + p->serial_no); /* Transformation all zeros */ transf.link[0].link_type = - (enum link_types)0; + (enum link_types)0; transf.link[0].link_amount = 0; transf.link[1].link_type = - (enum link_types)0; + (enum link_types)0; transf.link[1].link_amount = 0; transf.link[2].link_type = - (enum link_types)0; + (enum link_types)0; transf.link[2].link_amount = 0; transf.link[3].link_type = - (enum link_types)0; + (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; + 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)); + printk + ("state_jr3_init_transform_complete complete = %d\n", + is_complete(channel)); result = poll_delay_min_max(20, 100); } else { /* Set full scale */ @@ -602,7 +602,7 @@ static struct poll_delay_t jr3_pci_poll_subdevice(struct comedi_subdevice *s) struct six_axis_t max_full_scale; min_full_scale = - get_min_full_scales(channel); + get_min_full_scales(channel); printk("Obtained Min. Full Scales:\n"); printk("%i ", (min_full_scale).fx); printk("%i ", (min_full_scale).fy); @@ -613,7 +613,7 @@ static struct poll_delay_t jr3_pci_poll_subdevice(struct comedi_subdevice *s) printk("\n"); max_full_scale = - get_max_full_scales(channel); + get_max_full_scales(channel); printk("Obtained Max. Full Scales:\n"); printk("%i ", (max_full_scale).fx); printk("%i ", (max_full_scale).fy); @@ -624,17 +624,19 @@ static struct poll_delay_t jr3_pci_poll_subdevice(struct comedi_subdevice *s) printk("\n"); set_full_scales(channel, - max_full_scale); + max_full_scale); p->state = - state_jr3_init_set_full_scale_complete; + 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)); + printk + ("state_jr3_init_set_full_scale_complete complete = %d\n", + is_complete(channel)); result = poll_delay_min_max(20, 100); } else { volatile struct force_array *full_scale; @@ -642,32 +644,29 @@ static struct poll_delay_t jr3_pci_poll_subdevice(struct comedi_subdevice *s) /* 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; + -get_s16(&full_scale->fx) * 1000; p->range[0].range.max = - get_s16(&full_scale->fx) * 1000; + get_s16(&full_scale->fx) * 1000; p->range[1].range.min = - -get_s16(&full_scale->fy) * - 1000; + -get_s16(&full_scale->fy) * 1000; p->range[1].range.max = - get_s16(&full_scale->fy) * 1000; + get_s16(&full_scale->fy) * 1000; p->range[2].range.min = - -get_s16(&full_scale->fz) * - 1000; + -get_s16(&full_scale->fz) * 1000; p->range[2].range.max = - get_s16(&full_scale->fz) * 1000; + get_s16(&full_scale->fz) * 1000; p->range[3].range.min = - -get_s16(&full_scale->mx) * 100; + -get_s16(&full_scale->mx) * 100; p->range[3].range.max = - get_s16(&full_scale->mx) * 100; + get_s16(&full_scale->mx) * 100; p->range[4].range.min = - -get_s16(&full_scale->my) * 100; + -get_s16(&full_scale->my) * 100; p->range[4].range.max = - get_s16(&full_scale->my) * 100; + get_s16(&full_scale->my) * 100; p->range[5].range.min = - -get_s16(&full_scale->mz) * 100; + -get_s16(&full_scale->mz) * 100; p->range[5].range.max = - get_s16(&full_scale->mz) * 100; + 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; /* ?? */ @@ -679,27 +678,38 @@ static struct poll_delay_t jr3_pci_poll_subdevice(struct comedi_subdevice *s) int i; for (i = 0; i < 9; i++) { printk("%d %d - %d\n", - i, - p->range[i]. - range.min, - p->range[i]. - range.max); + i, + p-> + range[i].range. + min, + p-> + range[i].range. + max); } } use_offset(channel, 0); p->state = - state_jr3_init_use_offset_complete; + 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)); + 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)); + 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); @@ -730,7 +740,7 @@ static struct poll_delay_t jr3_pci_poll_subdevice(struct comedi_subdevice *s) static void jr3_pci_poll_dev(unsigned long data) { unsigned long flags; - struct comedi_device *dev = (struct comedi_device *) data; + struct comedi_device *dev = (struct comedi_device *)data; struct jr3_pci_dev_private *devpriv = dev->private; unsigned long now; int delay; @@ -741,15 +751,16 @@ static void jr3_pci_poll_dev(unsigned long data) now = jiffies; /* Poll all channels that are ready to be polled */ for (i = 0; i < devpriv->n_channels; i++) { - struct jr3_pci_subdev_private *subdevpriv = dev->subdevices[i].private; + struct jr3_pci_subdev_private *subdevpriv = + dev->subdevices[i].private; if (now > subdevpriv->next_time_min) { struct 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); + jiffies + msecs_to_jiffies(sub_delay.min); subdevpriv->next_time_max = - jiffies + msecs_to_jiffies(sub_delay.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 @@ -765,7 +776,8 @@ static void jr3_pci_poll_dev(unsigned long data) add_timer(&devpriv->timer); } -static int jr3_pci_attach(struct comedi_device *dev, struct comedi_devconfig *it) +static int jr3_pci_attach(struct comedi_device *dev, + struct comedi_devconfig *it) { int result = 0; struct pci_dev *card = NULL; @@ -779,7 +791,7 @@ static int jr3_pci_attach(struct comedi_device *dev, struct comedi_devconfig *it if (sizeof(struct jr3_channel) != 0xc00) { printk("sizeof(struct jr3_channel) = %x [expected %x]\n", - (unsigned)sizeof(struct jr3_channel), 0xc00); + (unsigned)sizeof(struct jr3_channel), 0xc00); return -EINVAL; } @@ -822,7 +834,7 @@ static int jr3_pci_attach(struct comedi_device *dev, struct comedi_devconfig *it /* Take first available card */ break; } else if (opt_bus == card->bus->number && - opt_slot == PCI_SLOT(card->devfn)) { + opt_slot == PCI_SLOT(card->devfn)) { /* Take requested card */ break; } @@ -843,7 +855,8 @@ static int jr3_pci_attach(struct comedi_device *dev, struct comedi_devconfig *it } devpriv->pci_enabled = 1; - devpriv->iobase = ioremap(pci_resource_start(card, 0), sizeof(struct jr3_t)); + devpriv->iobase = + ioremap(pci_resource_start(card, 0), sizeof(struct jr3_t)); result = alloc_subdevices(dev, devpriv->n_channels); if (result < 0) goto out; @@ -855,7 +868,7 @@ static int jr3_pci_attach(struct comedi_device *dev, struct comedi_devconfig *it dev->subdevices[i].n_chan = 8 * 7 + 2; dev->subdevices[i].insn_read = jr3_pci_ai_insn_read; dev->subdevices[i].private = - kzalloc(sizeof(struct jr3_pci_subdev_private), GFP_KERNEL); + kzalloc(sizeof(struct jr3_pci_subdev_private), GFP_KERNEL); if (dev->subdevices[i].private) { struct jr3_pci_subdev_private *p; int j; @@ -863,9 +876,9 @@ static int jr3_pci_attach(struct comedi_device *dev, struct comedi_devconfig *it p = dev->subdevices[i].private; p->channel = &devpriv->iobase->channel[i].data; printk("p->channel %p %p (%tx)\n", - p->channel, devpriv->iobase, - ((char *)(p->channel) - - (char *)(devpriv->iobase))); + p->channel, devpriv->iobase, + ((char *)(p->channel) - + (char *)(devpriv->iobase))); p->channel_no = i; for (j = 0; j < 8; j++) { int k; @@ -875,7 +888,8 @@ static int jr3_pci_attach(struct comedi_device *dev, struct comedi_devconfig *it p->range[j].range.max = 1000000; for (k = 0; k < 7; k++) { p->range_table_list[j + k * 8] = - (struct comedi_lrange *) &p->range[j]; + (struct comedi_lrange *)&p-> + range[j]; p->maxdata_list[j + k * 8] = 0x7fff; } } @@ -884,15 +898,15 @@ static int jr3_pci_attach(struct comedi_device *dev, struct comedi_devconfig *it p->range[8].range.max = 65536; p->range_table_list[56] = - (struct comedi_lrange *) &p->range[8]; + (struct comedi_lrange *)&p->range[8]; p->range_table_list[57] = - (struct comedi_lrange *) &p->range[8]; + (struct 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; + p->range_table_list; dev->subdevices[i].maxdata = 0; dev->subdevices[i].maxdata_list = p->maxdata_list; } @@ -922,8 +936,8 @@ static int jr3_pci_attach(struct comedi_device *dev, struct comedi_devconfig *it msleep_interruptible(25); for (i = 0; i < 0x18; i++) { printk("%c", - get_u16(&devpriv->iobase->channel[0].data. - copyright[i]) >> 8); + get_u16(&devpriv->iobase->channel[0]. + data.copyright[i]) >> 8); } /* Start card timer */ @@ -939,7 +953,7 @@ static int jr3_pci_attach(struct comedi_device *dev, struct comedi_devconfig *it devpriv->timer.expires = jiffies + msecs_to_jiffies(1000); add_timer(&devpriv->timer); - out: +out: return result; } |