// SPDX-License-Identifier: GPL-2.0+
/*
 * comedi/drivers/jr3_pci.c
 * hardware driver for JR3/PCI force sensor board
 *
 * COMEDI - Linux Control and Measurement Device Interface
 * Copyright (C) 2007 Anders Blomdell <anders.blomdell@control.lth.se>
 */
/*
 * Driver: jr3_pci
 * Description: JR3/PCI force sensor board
 * Author: Anders Blomdell <anders.blomdell@control.lth.se>
 * Updated: Thu, 01 Nov 2012 17:34:55 +0000
 * Status: works
 * Devices: [JR3] PCI force sensor board (jr3_pci)
 *
 * Configuration options:
 *   None
 *
 * Manual configuration of comedi devices is not supported by this
 * driver; supported PCI devices are configured as comedi devices
 * automatically.
 *
 * The DSP on the board requires initialization code, which can be
 * loaded by placing it in /lib/firmware/comedi.  The initialization
 * code should be somewhere on the media you got with your card.  One
 * version is available from https://www.comedi.org in the
 * comedi_nonfree_firmware tarball.  The file is called "jr3pci.idm".
 */

#include <linux/kernel.h>
#include <linux/module.h>
#include <linux/delay.h>
#include <linux/ctype.h>
#include <linux/hex.h>
#include <linux/jiffies.h>
#include <linux/slab.h>
#include <linux/timer.h>
#include <linux/comedi/comedi_pci.h>

#include "jr3_pci.h"

#define PCI_VENDOR_ID_JR3 0x1762

enum jr3_pci_boardid {
        BOARD_JR3_1,
        BOARD_JR3_2,
        BOARD_JR3_3,
        BOARD_JR3_4,
};

struct jr3_pci_board {
        const char *name;
        int n_subdevs;
};

static const struct jr3_pci_board jr3_pci_boards[] = {
        [BOARD_JR3_1] = {
                .name           = "jr3_pci_1",
                .n_subdevs      = 1,
        },
        [BOARD_JR3_2] = {
                .name           = "jr3_pci_2",
                .n_subdevs      = 2,
        },
        [BOARD_JR3_3] = {
                .name           = "jr3_pci_3",
                .n_subdevs      = 3,
        },
        [BOARD_JR3_4] = {
                .name           = "jr3_pci_4",
                .n_subdevs      = 4,
        },
};

struct jr3_pci_transform {
        struct {
                u16 link_type;
                s16 link_amount;
        } link[8];
};

struct jr3_pci_poll_delay {
        int min;
        int max;
};

struct jr3_pci_dev_private {
        struct timer_list timer;
        struct comedi_device *dev;
};

union jr3_pci_single_range {
        struct comedi_lrange l;
        char _reserved[offsetof(struct comedi_lrange, range[1])];
};

enum jr3_pci_poll_state {
        state_jr3_poll,
        state_jr3_init_wait_for_offset,
        state_jr3_init_transform_complete,
        state_jr3_init_set_full_scale_complete,
        state_jr3_init_use_offset_complete,
        state_jr3_done
};

struct jr3_pci_subdev_private {
        struct jr3_sensor __iomem *sensor;
        unsigned long next_time_min;
        enum jr3_pci_poll_state state;
        int serial_no;
        int model_no;
        union jr3_pci_single_range range[9];
        const struct comedi_lrange *range_table_list[8 * 7 + 2];
        unsigned int maxdata_list[8 * 7 + 2];
        u16 errors;
        int retries;
};

static struct jr3_pci_poll_delay poll_delay_min_max(int min, int max)
{
        struct jr3_pci_poll_delay result;

        result.min = min;
        result.max = max;
        return result;
}

static int is_complete(struct jr3_sensor __iomem *sensor)
{
        return get_s16(&sensor->command_word0) == 0;
}

static void set_transforms(struct jr3_sensor __iomem *sensor,
                           const struct jr3_pci_transform *transf, short num)
{
        int i;

        num &= 0x000f;          /* Make sure that 0 <= num <= 15 */
        for (i = 0; i < 8; i++) {
                set_u16(&sensor->transforms[num].link[i].link_type,
                        transf->link[i].link_type);
                udelay(1);
                set_s16(&sensor->transforms[num].link[i].link_amount,
                        transf->link[i].link_amount);
                udelay(1);
                if (transf->link[i].link_type == end_x_form)
                        break;
        }
}

static void use_transform(struct jr3_sensor __iomem *sensor,
                          short transf_num)
{
        set_s16(&sensor->command_word0, 0x0500 + (transf_num & 0x000f));
}

static void use_offset(struct jr3_sensor __iomem *sensor, short offset_num)
{
        set_s16(&sensor->command_word0, 0x0600 + (offset_num & 0x000f));
}

static void set_offset(struct jr3_sensor __iomem *sensor)
{
        set_s16(&sensor->command_word0, 0x0700);
}

struct six_axis_t {
        s16 fx;
        s16 fy;
        s16 fz;
        s16 mx;
        s16 my;
        s16 mz;
};

static void set_full_scales(struct jr3_sensor __iomem *sensor,
                            struct six_axis_t full_scale)
{
        set_s16(&sensor->full_scale.fx, full_scale.fx);
        set_s16(&sensor->full_scale.fy, full_scale.fy);
        set_s16(&sensor->full_scale.fz, full_scale.fz);
        set_s16(&sensor->full_scale.mx, full_scale.mx);
        set_s16(&sensor->full_scale.my, full_scale.my);
        set_s16(&sensor->full_scale.mz, full_scale.mz);
        set_s16(&sensor->command_word0, 0x0a00);
}

static struct six_axis_t get_max_full_scales(struct jr3_sensor __iomem *sensor)
{
        struct six_axis_t result;

        result.fx = get_s16(&sensor->max_full_scale.fx);
        result.fy = get_s16(&sensor->max_full_scale.fy);
        result.fz = get_s16(&sensor->max_full_scale.fz);
        result.mx = get_s16(&sensor->max_full_scale.mx);
        result.my = get_s16(&sensor->max_full_scale.my);
        result.mz = get_s16(&sensor->max_full_scale.mz);
        return result;
}

static unsigned int jr3_pci_ai_read_chan(struct comedi_device *dev,
                                         struct comedi_subdevice *s,
                                         unsigned int chan)
{
        struct jr3_pci_subdev_private *spriv = s->private;
        unsigned int val = 0;

        if (spriv->state != state_jr3_done)
                return 0;

        if (chan < 56) {
                unsigned int axis = chan % 8;
                unsigned int filter = chan / 8;

                switch (axis) {
                case 0:
                        val = get_s16(&spriv->sensor->filter[filter].fx);
                        break;
                case 1:
                        val = get_s16(&spriv->sensor->filter[filter].fy);
                        break;
                case 2:
                        val = get_s16(&spriv->sensor->filter[filter].fz);
                        break;
                case 3:
                        val = get_s16(&spriv->sensor->filter[filter].mx);
                        break;
                case 4:
                        val = get_s16(&spriv->sensor->filter[filter].my);
                        break;
                case 5:
                        val = get_s16(&spriv->sensor->filter[filter].mz);
                        break;
                case 6:
                        val = get_s16(&spriv->sensor->filter[filter].v1);
                        break;
                case 7:
                        val = get_s16(&spriv->sensor->filter[filter].v2);
                        break;
                }
                val += 0x4000;
        } else if (chan == 56) {
                val = get_u16(&spriv->sensor->model_no);
        } else if (chan == 57) {
                val = get_u16(&spriv->sensor->serial_no);
        }

        return val;
}

static int jr3_pci_ai_insn_read(struct comedi_device *dev,
                                struct comedi_subdevice *s,
                                struct comedi_insn *insn,
                                unsigned int *data)
{
        struct jr3_pci_subdev_private *spriv = s->private;
        unsigned int chan = CR_CHAN(insn->chanspec);
        u16 errors;
        int i;

        errors = get_u16(&spriv->sensor->errors);
        if (spriv->state != state_jr3_done ||
            (errors & (watch_dog | watch_dog2 | sensor_change))) {
                /* No sensor or sensor changed */
                if (spriv->state == state_jr3_done) {
                        /* Restart polling */
                        spriv->state = state_jr3_poll;
                }
                return -EAGAIN;
        }

        for (i = 0; i < insn->n; i++)
                data[i] = jr3_pci_ai_read_chan(dev, s, chan);

        return insn->n;
}

static int jr3_pci_open(struct comedi_device *dev)
{
        struct jr3_pci_subdev_private *spriv;
        struct comedi_subdevice *s;
        int i;

        for (i = 0; i < dev->n_subdevices; i++) {
                s = &dev->subdevices[i];
                spriv = s->private;
                dev_dbg(dev->class_dev, "serial[%d]: %d\n", s->index,
                        spriv->serial_no);
        }
        return 0;
}

static int read_idm_word(const u8 *data, size_t size, int *pos,
                         unsigned int *val)
{
        int result = 0;
        int value;

        if (pos && val) {
                /* Skip over non hex */
                for (; *pos < size && !isxdigit(data[*pos]); (*pos)++)
                        ;
                /* Collect value */
                *val = 0;
                for (; *pos < size; (*pos)++) {
                        value = hex_to_bin(data[*pos]);
                        if (value >= 0) {
                                result = 1;
                                *val = (*val << 4) + value;
                        } else {
                                break;
                        }
                }
        }
        return result;
}

static int jr3_check_firmware(struct comedi_device *dev,
                              const u8 *data, size_t size)
{
        int more = 1;
        int pos = 0;

        /*
         * IDM file format is:
         *   { count, address, data <count> } *
         *   ffff
         */
        while (more) {
                unsigned int count = 0;
                unsigned int addr = 0;

                more = more && read_idm_word(data, size, &pos, &count);
                if (more && count == 0xffff)
                        return 0;

                more = more && read_idm_word(data, size, &pos, &addr);
                while (more && count > 0) {
                        unsigned int dummy = 0;

                        more = more && read_idm_word(data, size, &pos, &dummy);
                        count--;
                }
        }

        return -ENODATA;
}

static void jr3_write_firmware(struct comedi_device *dev,
                               int subdev, const u8 *data, size_t size)
{
        struct jr3_block __iomem *block = dev->mmio;
        u32 __iomem *lo;
        u32 __iomem *hi;
        int more = 1;
        int pos = 0;

        while (more) {
                unsigned int count = 0;
                unsigned int addr = 0;

                more = more && read_idm_word(data, size, &pos, &count);
                if (more && count == 0xffff)
                        return;

                more = more && read_idm_word(data, size, &pos, &addr);

                dev_dbg(dev->class_dev, "Loading#%d %4.4x bytes at %4.4x\n",
                        subdev, count, addr);

                while (more && count > 0) {
                        if (addr & 0x4000) {
                                /* 16 bit data, never seen in real life!! */
                                unsigned int data1 = 0;

                                more = more &&
                                       read_idm_word(data, size, &pos, &data1);
                                count--;
                                /* jr3[addr + 0x20000 * pnum] = data1; */
                        } else {
                                /* Download 24 bit program */
                                unsigned int data1 = 0;
                                unsigned int data2 = 0;

                                lo = &block[subdev].program_lo[addr];
                                hi = &block[subdev].program_hi[addr];

                                more = more &&
                                       read_idm_word(data, size, &pos, &data1);
                                more = more &&
                                       read_idm_word(data, size, &pos, &data2);
                                count -= 2;
                                if (more) {
                                        set_u16(lo, data1);
                                        udelay(1);
                                        set_u16(hi, data2);
                                        udelay(1);
                                }
                        }
                        addr++;
                }
        }
}

static int jr3_download_firmware(struct comedi_device *dev,
                                 const u8 *data, size_t size,
                                 unsigned long context)
{
        int subdev;
        int ret;

        /* verify IDM file format */
        ret = jr3_check_firmware(dev, data, size);
        if (ret)
                return ret;

        /* write firmware to each subdevice */
        for (subdev = 0; subdev < dev->n_subdevices; subdev++)
                jr3_write_firmware(dev, subdev, data, size);

        return 0;
}

static struct jr3_pci_poll_delay
jr3_pci_poll_subdevice(struct comedi_subdevice *s)
{
        struct jr3_pci_subdev_private *spriv = s->private;
        struct jr3_pci_poll_delay result = poll_delay_min_max(1000, 2000);
        struct jr3_sensor __iomem *sensor;
        u16 model_no;
        u16 serial_no;
        int errors;
        int i;

        sensor = spriv->sensor;
        errors = get_u16(&sensor->errors);

        if (errors != spriv->errors)
                spriv->errors = errors;

        /* Sensor communication lost? force poll mode */
        if (errors & (watch_dog | watch_dog2 | sensor_change))
                spriv->state = state_jr3_poll;

        switch (spriv->state) {
        case state_jr3_poll:
                model_no = get_u16(&sensor->model_no);
                serial_no = get_u16(&sensor->serial_no);

                if ((errors & (watch_dog | watch_dog2)) ||
                    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.
                         */
                } else {
                        spriv->retries = 0;
                        spriv->state = state_jr3_init_wait_for_offset;
                }
                break;
        case state_jr3_init_wait_for_offset:
                spriv->retries++;
                if (spriv->retries < 10) {
                        /*
                         * Wait for offeset to stabilize
                         * (< 10 s according to manual)
                         */
                } else {
                        struct jr3_pci_transform transf;

                        spriv->model_no = get_u16(&sensor->model_no);
                        spriv->serial_no = get_u16(&sensor->serial_no);

                        /* Transformation all zeros */
                        for (i = 0; i < ARRAY_SIZE(transf.link); i++) {
                                transf.link[i].link_type = (enum link_types)0;
                                transf.link[i].link_amount = 0;
                        }

                        set_transforms(sensor, &transf, 0);
                        use_transform(sensor, 0);
                        spriv->state = state_jr3_init_transform_complete;
                        /* Allow 20 ms for completion */
                        result = poll_delay_min_max(20, 100);
                }
                break;
        case state_jr3_init_transform_complete:
                if (!is_complete(sensor)) {
                        result = poll_delay_min_max(20, 100);
                } else {
                        /* Set full scale */
                        struct six_axis_t max_full_scale;

                        max_full_scale = get_max_full_scales(sensor);
                        set_full_scales(sensor, max_full_scale);

                        spriv->state = state_jr3_init_set_full_scale_complete;
                        /* Allow 20 ms for completion */
                        result = poll_delay_min_max(20, 100);
                }
                break;
        case state_jr3_init_set_full_scale_complete:
                if (!is_complete(sensor)) {
                        result = poll_delay_min_max(20, 100);
                } else {
                        struct force_array __iomem *fs = &sensor->full_scale;
                        union jr3_pci_single_range *r = spriv->range;

                        /* Use ranges in kN or we will overflow around 2000N! */
                        r[0].l.range[0].min = -get_s16(&fs->fx) * 1000;
                        r[0].l.range[0].max = get_s16(&fs->fx) * 1000;
                        r[1].l.range[0].min = -get_s16(&fs->fy) * 1000;
                        r[1].l.range[0].max = get_s16(&fs->fy) * 1000;
                        r[2].l.range[0].min = -get_s16(&fs->fz) * 1000;
                        r[2].l.range[0].max = get_s16(&fs->fz) * 1000;
                        r[3].l.range[0].min = -get_s16(&fs->mx) * 100;
                        r[3].l.range[0].max = get_s16(&fs->mx) * 100;
                        r[4].l.range[0].min = -get_s16(&fs->my) * 100;
                        r[4].l.range[0].max = get_s16(&fs->my) * 100;
                        r[5].l.range[0].min = -get_s16(&fs->mz) * 100;
                        /* the next five are questionable */
                        r[5].l.range[0].max = get_s16(&fs->mz) * 100;
                        r[6].l.range[0].min = -get_s16(&fs->v1) * 100;
                        r[6].l.range[0].max = get_s16(&fs->v1) * 100;
                        r[7].l.range[0].min = -get_s16(&fs->v2) * 100;
                        r[7].l.range[0].max = get_s16(&fs->v2) * 100;
                        r[8].l.range[0].min = 0;
                        r[8].l.range[0].max = 65535;

                        use_offset(sensor, 0);
                        spriv->state = state_jr3_init_use_offset_complete;
                        /* Allow 40 ms for completion */
                        result = poll_delay_min_max(40, 100);
                }
                break;
        case state_jr3_init_use_offset_complete:
                if (!is_complete(sensor)) {
                        result = poll_delay_min_max(20, 100);
                } else {
                        set_s16(&sensor->offsets.fx, 0);
                        set_s16(&sensor->offsets.fy, 0);
                        set_s16(&sensor->offsets.fz, 0);
                        set_s16(&sensor->offsets.mx, 0);
                        set_s16(&sensor->offsets.my, 0);
                        set_s16(&sensor->offsets.mz, 0);

                        set_offset(sensor);

                        spriv->state = state_jr3_done;
                }
                break;
        case state_jr3_done:
                result = poll_delay_min_max(10000, 20000);
                break;
        default:
                break;
        }

        return result;
}

static void jr3_pci_poll_dev(struct timer_list *t)
{
        struct jr3_pci_dev_private *devpriv = timer_container_of(devpriv, t,
                                                                 timer);
        struct comedi_device *dev = devpriv->dev;
        struct jr3_pci_subdev_private *spriv;
        struct comedi_subdevice *s;
        unsigned long flags;
        unsigned long now;
        int delay;
        int i;

        spin_lock_irqsave(&dev->spinlock, flags);
        delay = 1000;
        now = jiffies;

        /* Poll all sensors that are ready to be polled */
        for (i = 0; i < dev->n_subdevices; i++) {
                s = &dev->subdevices[i];
                spriv = s->private;

                if (time_after_eq(now, spriv->next_time_min)) {
                        struct jr3_pci_poll_delay sub_delay;

                        sub_delay = jr3_pci_poll_subdevice(s);

                        spriv->next_time_min = jiffies +
                                               msecs_to_jiffies(sub_delay.min);

                        if (sub_delay.max && sub_delay.max < delay)
                                /*
                                 * Wake up as late as possible ->
                                 * poll as many sensors as possible at once.
                                 */
                                delay = sub_delay.max;
                }
        }
        spin_unlock_irqrestore(&dev->spinlock, flags);

        devpriv->timer.expires = jiffies + msecs_to_jiffies(delay);
        add_timer(&devpriv->timer);
}

static struct jr3_pci_subdev_private *
jr3_pci_alloc_spriv(struct comedi_device *dev, struct comedi_subdevice *s)
{
        struct jr3_block __iomem *block = dev->mmio;
        struct jr3_pci_subdev_private *spriv;
        int j;
        int k;

        spriv = comedi_alloc_spriv(s, sizeof(*spriv));
        if (!spriv)
                return NULL;

        spriv->sensor = &block[s->index].sensor;

        for (j = 0; j < 8; j++) {
                spriv->range[j].l.length = 1;
                spriv->range[j].l.range[0].min = -1000000;
                spriv->range[j].l.range[0].max = 1000000;

                for (k = 0; k < 7; k++) {
                        spriv->range_table_list[j + k * 8] = &spriv->range[j].l;
                        spriv->maxdata_list[j + k * 8] = 0x7fff;
                }
        }
        spriv->range[8].l.length = 1;
        spriv->range[8].l.range[0].min = 0;
        spriv->range[8].l.range[0].max = 65535;

        spriv->range_table_list[56] = &spriv->range[8].l;
        spriv->range_table_list[57] = &spriv->range[8].l;
        spriv->maxdata_list[56] = 0xffff;
        spriv->maxdata_list[57] = 0xffff;

        return spriv;
}

static void jr3_pci_show_copyright(struct comedi_device *dev)
{
        struct jr3_block __iomem *block = dev->mmio;
        struct jr3_sensor __iomem *sensor0 = &block[0].sensor;
        char copy[ARRAY_SIZE(sensor0->copyright) + 1];
        int i;

        for (i = 0; i < ARRAY_SIZE(sensor0->copyright); i++)
                copy[i] = (char)(get_u16(&sensor0->copyright[i]) >> 8);
        copy[i] = '\0';
        dev_dbg(dev->class_dev, "Firmware copyright: %s\n", copy);
}

static int jr3_pci_auto_attach(struct comedi_device *dev,
                               unsigned long context)
{
        struct pci_dev *pcidev = comedi_to_pci_dev(dev);
        static const struct jr3_pci_board *board;
        struct jr3_pci_dev_private *devpriv;
        struct jr3_pci_subdev_private *spriv;
        struct jr3_block __iomem *block;
        struct comedi_subdevice *s;
        int ret;
        int i;

        BUILD_BUG_ON(sizeof(struct jr3_block) != 0x80000);

        if (context < ARRAY_SIZE(jr3_pci_boards))
                board = &jr3_pci_boards[context];
        if (!board)
                return -ENODEV;
        dev->board_ptr = board;
        dev->board_name = board->name;

        devpriv = comedi_alloc_devpriv(dev, sizeof(*devpriv));
        if (!devpriv)
                return -ENOMEM;

        ret = comedi_pci_enable(dev);
        if (ret)
                return ret;

        if (pci_resource_len(pcidev, 0) < board->n_subdevs * sizeof(*block))
                return -ENXIO;

        dev->mmio = pci_ioremap_bar(pcidev, 0);
        if (!dev->mmio)
                return -ENOMEM;

        block = dev->mmio;

        ret = comedi_alloc_subdevices(dev, board->n_subdevs);
        if (ret)
                return ret;

        dev->open = jr3_pci_open;
        for (i = 0; i < dev->n_subdevices; i++) {
                s = &dev->subdevices[i];
                s->type         = COMEDI_SUBD_AI;
                s->subdev_flags = SDF_READABLE | SDF_GROUND;
                s->n_chan       = 8 * 7 + 2;
                s->insn_read    = jr3_pci_ai_insn_read;

                spriv = jr3_pci_alloc_spriv(dev, s);
                if (!spriv)
                        return -ENOMEM;

                /* Channel specific range and maxdata */
                s->range_table_list     = spriv->range_table_list;
                s->maxdata_list         = spriv->maxdata_list;
        }

        /* Reset DSP card */
        for (i = 0; i < dev->n_subdevices; i++)
                writel(0, &block[i].reset);

        ret = comedi_load_firmware(dev, &comedi_to_pci_dev(dev)->dev,
                                   "comedi/jr3pci.idm",
                                   jr3_download_firmware, 0);
        dev_dbg(dev->class_dev, "Firmware load %d\n", ret);
        if (ret < 0)
                return ret;
        /*
         * TODO: use firmware to load preferred offset tables. Suggested
         * format:
         *     model serial Fx Fy Fz Mx My Mz\n
         *
         *     comedi_load_firmware(dev, &comedi_to_pci_dev(dev)->dev,
         *                          "comedi/jr3_offsets_table",
         *                          jr3_download_firmware, 1);
         */

        /*
         * It takes a few milliseconds for software to settle as much as we
         * can read firmware version
         */
        msleep_interruptible(25);
        jr3_pci_show_copyright(dev);

        /* Start card timer */
        for (i = 0; i < dev->n_subdevices; i++) {
                s = &dev->subdevices[i];
                spriv = s->private;

                spriv->next_time_min = jiffies + msecs_to_jiffies(500);
        }

        devpriv->dev = dev;
        timer_setup(&devpriv->timer, jr3_pci_poll_dev, 0);
        devpriv->timer.expires = jiffies + msecs_to_jiffies(1000);
        add_timer(&devpriv->timer);

        return 0;
}

static void jr3_pci_detach(struct comedi_device *dev)
{
        struct jr3_pci_dev_private *devpriv = dev->private;

        if (devpriv)
                timer_shutdown_sync(&devpriv->timer);

        comedi_pci_detach(dev);
}

static struct comedi_driver jr3_pci_driver = {
        .driver_name    = "jr3_pci",
        .module         = THIS_MODULE,
        .auto_attach    = jr3_pci_auto_attach,
        .detach         = jr3_pci_detach,
};

static int jr3_pci_pci_probe(struct pci_dev *dev,
                             const struct pci_device_id *id)
{
        return comedi_pci_auto_config(dev, &jr3_pci_driver, id->driver_data);
}

static const struct pci_device_id jr3_pci_pci_table[] = {
        { PCI_VDEVICE(JR3, 0x1111), BOARD_JR3_1 },
        { PCI_VDEVICE(JR3, 0x3111), BOARD_JR3_1 },
        { PCI_VDEVICE(JR3, 0x3112), BOARD_JR3_2 },
        { PCI_VDEVICE(JR3, 0x3113), BOARD_JR3_3 },
        { PCI_VDEVICE(JR3, 0x3114), BOARD_JR3_4 },
        { 0 }
};
MODULE_DEVICE_TABLE(pci, jr3_pci_pci_table);

static struct pci_driver jr3_pci_pci_driver = {
        .name           = "jr3_pci",
        .id_table       = jr3_pci_pci_table,
        .probe          = jr3_pci_pci_probe,
        .remove         = comedi_pci_auto_unconfig,
};
module_comedi_pci_driver(jr3_pci_driver, jr3_pci_pci_driver);

MODULE_AUTHOR("Comedi https://www.comedi.org");
MODULE_DESCRIPTION("Comedi driver for JR3/PCI force sensor board");
MODULE_LICENSE("GPL");
MODULE_FIRMWARE("comedi/jr3pci.idm");