/* SPDX-License-Identifier: GPL-2.0 */ /* * Helper types to take care of the fact that the DSP card memory * is 16 bits, but aligned on a 32 bit PCI boundary */ static inline u16 get_u16(const u32 __iomem *p) { return (u16)readl(p); } static inline void set_u16(u32 __iomem *p, u16 val) { writel(val, p); } static inline s16 get_s16(const s32 __iomem *p) { return (s16)readl(p); } static inline void set_s16(s32 __iomem *p, s16 val) { writel(val, p); } /* * The raw data is stored in a format which facilitates rapid * processing by the JR3 DSP chip. The raw_channel structure shows the * format for a single channel of data. Each channel takes four, * two-byte words. * * Raw_time is an unsigned integer which shows the value of the JR3 * DSP's internal clock at the time the sample was received. The clock * runs at 1/10 the JR3 DSP cycle time. JR3's slowest DSP runs at 10 * Mhz. At 10 Mhz raw_time would therefore clock at 1 Mhz. * * Raw_data is the raw data received directly from the sensor. The * sensor data stream is capable of representing 16 different * channels. Channel 0 shows the excitation voltage at the sensor. It * is used to regulate the voltage over various cable lengths. * Channels 1-6 contain the coupled force data Fx through Mz. Channel * 7 contains the sensor's calibration data. The use of channels 8-15 * varies with different sensors. */ struct raw_channel { u32 raw_time; s32 raw_data; s32 reserved[2]; }; /* * The force_array structure shows the layout for the decoupled and * filtered force data. */ struct force_array { s32 fx; s32 fy; s32 fz; s32 mx; s32 my; s32 mz; s32 v1; s32 v2; }; /* * The six_axis_array structure shows the layout for the offsets and * the full scales. */ struct six_axis_array { s32 fx; s32 fy; s32 fz; s32 mx; s32 my; s32 mz; }; /* VECT_BITS */ /* * The vect_bits structure shows the layout for indicating * which axes to use in computing the vectors. Each bit signifies * selection of a single axis. The V1x axis bit corresponds to a hex * value of 0x0001 and the V2z bit corresponds to a hex value of * 0x0020. Example: to specify the axes V1x, V1y, V2x, and V2z the * pattern would be 0x002b. Vector 1 defaults to a force vector and * vector 2 defaults to a moment vector. It is possible to change one * or the other so that two force vectors or two moment vectors are * calculated. Setting the changeV1 bit or the changeV2 bit will * change that vector to be the opposite of its default. Therefore to * have two force vectors, set changeV1 to 1. */ /* vect_bits appears to be unused at this time */ enum { fx = 0x0001, fy = 0x0002, fz = 0x0004, mx = 0x0008, my = 0x0010, mz = 0x0020, changeV2 = 0x0040, changeV1 = 0x0080 }; /* WARNING_BITS */ /* * The warning_bits structure shows the bit pattern for the warning * word. The bit fields are shown from bit 0 (lsb) to bit 15 (msb). */ /* XX_NEAR_SET */ /* * The xx_near_sat bits signify that the indicated axis has reached or * exceeded the near saturation value. */ enum { fx_near_sat = 0x0001, fy_near_sat = 0x0002, fz_near_sat = 0x0004, mx_near_sat = 0x0008, my_near_sat = 0x0010, mz_near_sat = 0x0020 }; /* ERROR_BITS */ /* XX_SAT */ /* MEMORY_ERROR */ /* SENSOR_CHANGE */ /* * The error_bits structure shows the bit pattern for the error word. * The bit fields are shown from bit 0 (lsb) to bit 15 (msb). The * xx_sat bits signify that the indicated axis has reached or exceeded * the saturation value. The memory_error bit indicates that a problem * was detected in the on-board RAM during the power-up * initialization. The sensor_change bit indicates that a sensor other * than the one originally plugged in has passed its CRC check. This * bit latches, and must be reset by the user. * */ /* SYSTEM_BUSY */ /* * The system_busy bit indicates that the JR3 DSP is currently busy * and is not calculating force data. This occurs when a new * coordinate transformation, or new sensor full scale is set by the * user. A very fast system using the force data for feedback might * become unstable during the approximately 4 ms needed to accomplish * these calculations. This bit will also become active when a new * sensor is plugged in and the system needs to recalculate the * calibration CRC. */ /* CAL_CRC_BAD */ /* * The cal_crc_bad bit indicates that the calibration CRC has not * calculated to zero. CRC is short for cyclic redundancy code. It is * a method for determining the integrity of messages in data * communication. The calibration data stored inside the sensor is * transmitted to the JR3 DSP along with the sensor data. The * calibration data has a CRC attached to the end of it, to assist in * determining the completeness and integrity of the calibration data * received from the sensor. There are two reasons the CRC may not * have calculated to zero. The first is that all the calibration data * has not yet been received, the second is that the calibration data * has been corrupted. A typical sensor transmits the entire contents * of its calibration matrix over 30 times a second. Therefore, if * this bit is not zero within a couple of seconds after the sensor * has been plugged in, there is a problem with the sensor's * calibration data. */ /* WATCH_DOG */ /* WATCH_DOG2 */ /* * The watch_dog and watch_dog2 bits are sensor, not processor, watch * dog bits. Watch_dog indicates that the sensor data line seems to be * acting correctly, while watch_dog2 indicates that sensor data and * clock are being received. It is possible for watch_dog2 to go off * while watch_dog does not. This would indicate an improper clock * signal, while data is acting correctly. If either watch dog barks, * the sensor data is not being received correctly. */ enum error_bits_t { fx_sat = 0x0001, fy_sat = 0x0002, fz_sat = 0x0004, mx_sat = 0x0008, my_sat = 0x0010, mz_sat = 0x0020, memory_error = 0x0400, sensor_change = 0x0800, system_busy = 0x1000, cal_crc_bad = 0x2000, watch_dog2 = 0x4000, watch_dog = 0x8000 }; /* THRESH_STRUCT */ /* * This structure shows the layout for a single threshold packet inside of a * load envelope. Each load envelope can contain several threshold structures. * 1. data_address contains the address of the data for that threshold. This * includes filtered, unfiltered, raw, rate, counters, error and warning data * 2. threshold is the is the value at which, if data is above or below, the * bits will be set ... (pag.24). * 3. bit_pattern contains the bits that will be set if the threshold value is * met or exceeded. */ struct thresh_struct { s32 data_address; s32 threshold; s32 bit_pattern; }; /* LE_STRUCT */ /* * Layout of a load enveloped packet. Four thresholds are showed ... for more * see manual (pag.25) * 1. latch_bits is a bit pattern that show which bits the user wants to latch. * The latched bits will not be reset once the threshold which set them is * no longer true. In that case the user must reset them using the reset_bit * command. * 2. number_of_xx_thresholds specify how many GE/LE threshold there are. */ struct le_struct { s32 latch_bits; s32 number_of_ge_thresholds; s32 number_of_le_thresholds; struct thresh_struct thresholds[4]; s32 reserved; }; /* LINK_TYPES */ /* * Link types is an enumerated value showing the different possible transform * link types. * 0 - end transform packet * 1 - translate along X axis (TX) * 2 - translate along Y axis (TY) * 3 - translate along Z axis (TZ) * 4 - rotate about X axis (RX) * 5 - rotate about Y axis (RY) * 6 - rotate about Z axis (RZ) * 7 - negate all axes (NEG) */ enum link_types { end_x_form, tx, ty, tz, rx, ry, rz, neg }; /* TRANSFORM */ /* Structure used to describe a transform. */ struct intern_transform { struct { u32 link_type; s32 link_amount; } link[8]; }; /* * JR3 force/torque sensor data definition. For more information see sensor * and hardware manuals. */ struct jr3_sensor { /* * Raw_channels is the area used to store the raw data coming from * the sensor. */ struct raw_channel raw_channels[16]; /* offset 0x0000 */ /* * Copyright is a null terminated ASCII string containing the JR3 * copyright notice. */ u32 copyright[0x0018]; /* offset 0x0040 */ s32 reserved1[0x0008]; /* offset 0x0058 */ /* * Shunts contains the sensor shunt readings. Some JR3 sensors have * the ability to have their gains adjusted. This allows the * hardware full scales to be adjusted to potentially allow * better resolution or dynamic range. For sensors that have * this ability, the gain of each sensor channel is measured at * the time of calibration using a shunt resistor. The shunt * resistor is placed across one arm of the resistor bridge, and * the resulting change in the output of that channel is * measured. This measurement is called the shunt reading, and * is recorded here. If the user has changed the gain of the // * sensor, and made new shunt measurements, those shunt * measurements can be placed here. The JR3 DSP will then scale * the calibration matrix such so that the gains are again * proper for the indicated shunt readings. If shunts is 0, then * the sensor cannot have its gain changed. For details on * changing the sensor gain, and making shunts readings, please * see the sensor manual. To make these values take effect the * user must call either command (5) use transform # (pg. 33) or * command (10) set new full scales (pg. 38). */ struct six_axis_array shunts; /* offset 0x0060 */ s32 reserved2[2]; /* offset 0x0066 */ /* * Default_FS contains the full scale that is used if the user does * not set a full scale. */ struct six_axis_array default_FS; /* offset 0x0068 */ s32 reserved3; /* offset 0x006e */ /* * Load_envelope_num is the load envelope number that is currently * in use. This value is set by the user after one of the load * envelopes has been initialized. */ s32 load_envelope_num; /* offset 0x006f */ /* Min_full_scale is the recommend minimum full scale. */ /* * These values in conjunction with max_full_scale (pg. 9) helps * determine the appropriate value for setting the full scales. The * software allows the user to set the sensor full scale to an * arbitrary value. But setting the full scales has some hazards. If * the full scale is set too low, the data will saturate * prematurely, and dynamic range will be lost. If the full scale is * set too high, then resolution is lost as the data is shifted to * the right and the least significant bits are lost. Therefore the * maximum full scale is the maximum value at which no resolution is * lost, and the minimum full scale is the value at which the data * will not saturate prematurely. These values are calculated * whenever a new coordinate transformation is calculated. It is * possible for the recommended maximum to be less than the * recommended minimum. This comes about primarily when using * coordinate translations. If this is the case, it means that any * full scale selection will be a compromise between dynamic range * and resolution. It is usually recommended to compromise in favor * of resolution which means that the recommend maximum full scale * should be chosen. * * WARNING: Be sure that the full scale is no less than 0.4% of the * recommended minimum full scale. Full scales below this value will * cause erroneous results. */ struct six_axis_array min_full_scale; /* offset 0x0070 */ s32 reserved4; /* offset 0x0076 */ /* * Transform_num is the transform number that is currently in use. * This value is set by the JR3 DSP after the user has used command * (5) use transform # (pg. 33). */ s32 transform_num; /* offset 0x0077 */ /* * Max_full_scale is the recommended maximum full scale. * See min_full_scale (pg. 9) for more details. */ struct six_axis_array max_full_scale; /* offset 0x0078 */ s32 reserved5; /* offset 0x007e */ /* * Peak_address is the address of the data which will be monitored * by the peak routine. This value is set by the user. The peak * routine will monitor any 8 contiguous addresses for peak values. * (ex. to watch filter3 data for peaks, set this value to 0x00a8). */ s32 peak_address; /* offset 0x007f */ /* * Full_scale is the sensor full scales which are currently in use. * Decoupled and filtered data is scaled so that +/- 16384 is equal * to the full scales. The engineering units used are indicated by * the units value discussed on page 16. The full scales for Fx, Fy, * Fz, Mx, My and Mz can be written by the user prior to calling * command (10) set new full scales (pg. 38). The full scales for V1 * and V2 are set whenever the full scales are changed or when the * axes used to calculate the vectors are changed. The full scale of * V1 and V2 will always be equal to the largest full scale of the * axes used for each vector respectively. */ struct force_array full_scale; /* offset 0x0080 */ /* * Offsets contains the sensor offsets. These values are subtracted from * the sensor data to obtain the decoupled data. The offsets are set a * few seconds (< 10) after the calibration data has been received. * They are set so that the output data will be zero. These values * can be written as well as read. The JR3 DSP will use the values * written here within 2 ms of being written. To set future * decoupled data to zero, add these values to the current decoupled * data values and place the sum here. The JR3 DSP will change these * values when a new transform is applied. So if the offsets are * such that FX is 5 and all other values are zero, after rotating * about Z by 90 degrees, FY would be 5 and all others would be zero. */ struct six_axis_array offsets; /* offset 0x0088 */ /* * Offset_num is the number of the offset currently in use. This * value is set by the JR3 DSP after the user has executed the use * offset # command (pg. 34). It can vary between 0 and 15. */ s32 offset_num; /* offset 0x008e */ /* * Vect_axes is a bit map showing which of the axes are being used * in the vector calculations. This value is set by the JR3 DSP * after the user has executed the set vector axes command (pg. 37). */ u32 vect_axes; /* offset 0x008f */ /* * Filter0 is the decoupled, unfiltered data from the JR3 sensor. * This data has had the offsets removed. * * These force_arrays hold the filtered data. The decoupled data is * passed through cascaded low pass filters. Each succeeding filter * has a cutoff frequency of 1/4 of the preceding filter. The cutoff * frequency of filter1 is 1/16 of the sample rate from the sensor. * For a typical sensor with a sample rate of 8 kHz, the cutoff * frequency of filter1 would be 500 Hz. The following filters would * cutoff at 125 Hz, 31.25 Hz, 7.813 Hz, 1.953 Hz and 0.4883 Hz. */ struct force_array filter[7]; /* * offset 0x0090, * offset 0x0098, * offset 0x00a0, * offset 0x00a8, * offset 0x00b0, * offset 0x00b8, * offset 0x00c0 */ /* * Rate_data is the calculated rate data. It is a first derivative * calculation. It is calculated at a frequency specified by the * variable rate_divisor (pg. 12). The data on which the rate is * calculated is specified by the variable rate_address (pg. 12). */ struct force_array rate_data; /* offset 0x00c8 */ /* * Minimum_data & maximum_data are the minimum and maximum (peak) * data values. The JR3 DSP can monitor any 8 contiguous data items * for minimums and maximums at full sensor bandwidth. This area is * only updated at user request. This is done so that the user does * not miss any peaks. To read the data, use either the read peaks * command (pg. 40), or the read and reset peaks command (pg. 39). * The address of the data to watch for peaks is stored in the * variable peak_address (pg. 10). Peak data is lost when executing * a coordinate transformation or a full scale change. Peak data is * also lost when plugging in a new sensor. */ struct force_array minimum_data; /* offset 0x00d0 */ struct force_array maximum_data; /* offset 0x00d8 */ /* * Near_sat_value & sat_value contain the value used to determine if * the raw sensor is saturated. Because of decoupling and offset * removal, it is difficult to tell from the processed data if the * sensor is saturated. These values, in conjunction with the error * and warning words (pg. 14), provide this critical information. * These two values may be set by the host processor. These values * are positive signed values, since the saturation logic uses the * absolute values of the raw data. The near_sat_value defaults to * approximately 80% of the ADC's full scale, which is 26214, while * sat_value defaults to the ADC's full scale: * * sat_value = 32768 - 2^(16 - ADC bits) */ s32 near_sat_value; /* offset 0x00e0 */ s32 sat_value; /* offset 0x00e1 */ /* * Rate_address, rate_divisor & rate_count contain the data used to * control the calculations of the rates. Rate_address is the * address of the data used for the rate calculation. The JR3 DSP * will calculate rates for any 8 contiguous values (ex. to * calculate rates for filter3 data set rate_address to 0x00a8). * Rate_divisor is how often the rate is calculated. If rate_divisor * is 1, the rates are calculated at full sensor bandwidth. If * rate_divisor is 200, rates are calculated every 200 samples. * Rate_divisor can be any value between 1 and 65536. Set * rate_divisor to 0 to calculate rates every 65536 samples. * Rate_count starts at zero and counts until it equals * rate_divisor, at which point the rates are calculated, and * rate_count is reset to 0. When setting a new rate divisor, it is * a good idea to set rate_count to one less than rate divisor. This * will minimize the time necessary to start the rate calculations. */ s32 rate_address; /* offset 0x00e2 */ u32 rate_divisor; /* offset 0x00e3 */ u32 rate_count; /* offset 0x00e4 */ /* * Command_word2 through command_word0 are the locations used to * send commands to the JR3 DSP. Their usage varies with the command * and is detailed later in the Command Definitions section (pg. * 29). In general the user places values into various memory * locations, and then places the command word into command_word0. * The JR3 DSP will process the command and place a 0 into * command_word0 to indicate successful completion. Alternatively * the JR3 DSP will place a negative number into command_word0 to * indicate an error condition. Please note the command locations * are numbered backwards. (I.E. command_word2 comes before * command_word1). */ s32 command_word2; /* offset 0x00e5 */ s32 command_word1; /* offset 0x00e6 */ s32 command_word0; /* offset 0x00e7 */ /* * Count1 through count6 are unsigned counters which are incremented * every time the matching filters are calculated. Filter1 is * calculated at the sensor data bandwidth. So this counter would * increment at 8 kHz for a typical sensor. The rest of the counters * are incremented at 1/4 the interval of the counter immediately * preceding it, so they would count at 2 kHz, 500 Hz, 125 Hz etc. * These counters can be used to wait for data. Each time the * counter changes, the corresponding data set can be sampled, and * this will insure that the user gets each sample, once, and only * once. */ u32 count1; /* offset 0x00e8 */ u32 count2; /* offset 0x00e9 */ u32 count3; /* offset 0x00ea */ u32 count4; /* offset 0x00eb */ u32 count5; /* offset 0x00ec */ u32 count6; /* offset 0x00ed */ /* * Error_count is a running count of data reception errors. If this * counter is changing rapidly, it probably indicates a bad sensor * cable connection or other hardware problem. In most installations * error_count should not change at all. But it is possible in an * extremely noisy environment to experience occasional errors even * without a hardware problem. If the sensor is well grounded, this * is probably unavoidable in these environments. On the occasions * where this counter counts a bad sample, that sample is ignored. */ u32 error_count; /* offset 0x00ee */ /* * Count_x is a counter which is incremented every time the JR3 DSP * searches its job queues and finds nothing to do. It indicates the * amount of idle time the JR3 DSP has available. It can also be * used to determine if the JR3 DSP is alive. See the Performance * Issues section on pg. 49 for more details. */ u32 count_x; /* offset 0x00ef */ /* * Warnings & errors contain the warning and error bits * respectively. The format of these two words is discussed on page * 21 under the headings warnings_bits and error_bits. */ u32 warnings; /* offset 0x00f0 */ u32 errors; /* offset 0x00f1 */ /* * Threshold_bits is a word containing the bits that are set by the * load envelopes. See load_envelopes (pg. 17) and thresh_struct * (pg. 23) for more details. */ s32 threshold_bits; /* offset 0x00f2 */ /* * Last_crc is the value that shows the actual calculated CRC. CRC * is short for cyclic redundancy code. It should be zero. See the * description for cal_crc_bad (pg. 21) for more information. */ s32 last_CRC; /* offset 0x00f3 */ /* * EEProm_ver_no contains the version number of the sensor EEProm. * EEProm version numbers can vary between 0 and 255. * Software_ver_no contains the software version number. Version * 3.02 would be stored as 302. */ s32 eeprom_ver_no; /* offset 0x00f4 */ s32 software_ver_no; /* offset 0x00f5 */ /* * Software_day & software_year are the release date of the software * the JR3 DSP is currently running. Day is the day of the year, * with January 1 being 1, and December 31, being 365 for non leap * years. */ s32 software_day; /* offset 0x00f6 */ s32 software_year; /* offset 0x00f7 */ /* * Serial_no & model_no are the two values which uniquely identify a * sensor. This model number does not directly correspond to the JR3 * model number, but it will provide a unique identifier for * different sensor configurations. */ u32 serial_no; /* offset 0x00f8 */ u32 model_no; /* offset 0x00f9 */ /* * Cal_day & cal_year are the sensor calibration date. Day is the * day of the year, with January 1 being 1, and December 31, being * 366 for leap years. */ s32 cal_day; /* offset 0x00fa */ s32 cal_year; /* offset 0x00fb */ /* * Units is an enumerated read only value defining the engineering * units used in the sensor full scale. The meanings of particular * values are discussed in the section detailing the force_units * structure on page 22. The engineering units are setto customer * specifications during sensor manufacture and cannot be changed by * writing to Units. * * Bits contains the number of bits of resolution of the ADC * currently in use. * * Channels is a bit field showing which channels the current sensor * is capable of sending. If bit 0 is active, this sensor can send * channel 0, if bit 13 is active, this sensor can send channel 13, * etc. This bit can be active, even if the sensor is not currently * sending this channel. Some sensors are configurable as to which * channels to send, and this field only contains information on the * channels available to send, not on the current configuration. To * find which channels are currently being sent, monitor the * Raw_time fields (pg. 19) in the raw_channels array (pg. 7). If * the time is changing periodically, then that channel is being * received. */ u32 units; /* offset 0x00fc */ s32 bits; /* offset 0x00fd */ s32 channels; /* offset 0x00fe */ /* * Thickness specifies the overall thickness of the sensor from * flange to flange. The engineering units for this value are * contained in units (pg. 16). The sensor calibration is relative * to the center of the sensor. This value allows easy coordinate * transformation from the center of the sensor to either flange. */ s32 thickness; /* offset 0x00ff */ /* * Load_envelopes is a table containing the load envelope * descriptions. There are 16 possible load envelope slots in the * table. The slots are on 16 word boundaries and are numbered 0-15. * Each load envelope needs to start at the beginning of a slot but * need not be fully contained in that slot. That is to say that a * single load envelope can be larger than a single slot. The * software has been tested and ran satisfactorily with 50 * thresholds active. A single load envelope this large would take * up 5 of the 16 slots. The load envelope data is laid out in an * order that is most efficient for the JR3 DSP. The structure is * detailed later in the section showing the definition of the * le_struct structure (pg. 23). */ struct le_struct load_envelopes[0x10]; /* offset 0x0100 */ /* * Transforms is a table containing the transform descriptions. * There are 16 possible transform slots in the table. The slots are * on 16 word boundaries and are numbered 0-15. Each transform needs * to start at the beginning of a slot but need not be fully * contained in that slot. That is to say that a single transform * can be larger than a single slot. A transform is 2 * no of links * + 1 words in length. So a single slot can contain a transform * with 7 links. Two slots can contain a transform that is 15 links. * The layout is detailed later in the section showing the * definition of the transform structure (pg. 26). */ struct intern_transform transforms[0x10]; /* offset 0x0200 */ }; struct jr3_block { u32 program_lo[0x4000]; /* 0x00000 - 0x10000 */ struct jr3_sensor sensor; /* 0x10000 - 0x10c00 */ char pad2[0x30000 - 0x00c00]; /* 0x10c00 - 0x40000 */ u32 program_hi[0x8000]; /* 0x40000 - 0x60000 */ u32 reset; /* 0x60000 - 0x60004 */ char pad3[0x20000 - 0x00004]; /* 0x60004 - 0x80000 */ };
