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Commit b2be969b authored by Bill Pemberton's avatar Bill Pemberton Committed by Greg Kroah-Hartman
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Staging: comedi: Replace C99 comments in jr3_pci.h 

Signed-off-by: default avatarBill Pemberton <wfp5p@virginia.edu>
Signed-off-by: default avatarGreg Kroah-Hartman <gregkh@suse.de>
parent 947a33fd
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Showing with 429 additions and 379 deletions
drivers/staging/comedi/drivers/jr3_pci.h
View file @ b2be969b
// Helper types to take care of the fact that the DSP card memory /* Helper types to take care of the fact that the DSP card memory
// is 16 bits, but aligned on a 32 bit PCI boundary * is 16 bits, but aligned on a 32 bit PCI boundary
*/
typedef u32 u_val_t; typedef u32 u_val_t;
typedef s32 s_val_t; typedef s32 s_val_t;
...@@ -24,31 +26,34 @@ static inline void set_s16(volatile s_val_t * p, s16 val) ...@@ -24,31 +26,34 @@ static inline void set_s16(volatile s_val_t * p, s16 val)
writel(val, p); writel(val, p);
} }
// The raw data is stored in a format which facilitates rapid /* The raw data is stored in a format which facilitates rapid
// processing by the JR3 DSP chip. The raw_channel structure shows the * processing by the JR3 DSP chip. The raw_channel structure shows the
// format for a single channel of data. Each channel takes four, * format for a single channel of data. Each channel takes four,
// two-byte words. * two-byte words.
// *
// Raw_time is an unsigned integer which shows the value of the JR3 * 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 * 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 * 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. * Mhz. At 10 Mhz raw_time would therefore clock at 1 Mhz.
// *
// Raw_data is the raw data received directly from the sensor. The * Raw_data is the raw data received directly from the sensor. The
// sensor data stream is capable of representing 16 different * sensor data stream is capable of representing 16 different
// channels. Channel 0 shows the excitation voltage at the sensor. It * channels. Channel 0 shows the excitation voltage at the sensor. It
// is used to regulate the voltage over various cable lengths. * is used to regulate the voltage over various cable lengths.
// Channels 1-6 contain the coupled force data Fx through Mz. Channel * 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 * 7 contains the sensor's calibration data. The use of channels 8-15
// varies with different sensors. * varies with different sensors.
*/
typedef struct raw_channel { typedef struct raw_channel {
u_val_t raw_time; u_val_t raw_time;
s_val_t raw_data; s_val_t raw_data;
s_val_t reserved[2]; s_val_t reserved[2];
} raw_channel_t; } raw_channel_t;
// The force_array structure shows the layout for the decoupled and /* The force_array structure shows the layout for the decoupled and
// filtered force data. * filtered force data.
*/
typedef struct force_array { typedef struct force_array {
s_val_t fx; s_val_t fx;
s_val_t fy; s_val_t fy;
...@@ -60,8 +65,9 @@ typedef struct force_array { ...@@ -60,8 +65,9 @@ typedef struct force_array {
s_val_t v2; s_val_t v2;
} force_array_t; } force_array_t;
// The six_axis_array structure shows the layout for the offsets and /* The six_axis_array structure shows the layout for the offsets and
// the full scales. * the full scales.
*/
typedef struct six_axis_array { typedef struct six_axis_array {
s_val_t fx; s_val_t fx;
s_val_t fy; s_val_t fy;
...@@ -71,18 +77,19 @@ typedef struct six_axis_array { ...@@ -71,18 +77,19 @@ typedef struct six_axis_array {
s_val_t mz; s_val_t mz;
} six_axis_array_t; } six_axis_array_t;
// VECT_BITS /* VECT_BITS */
// The vect_bits structure shows the layout for indicating /* The vect_bits structure shows the layout for indicating
// which axes to use in computing the vectors. Each bit signifies * which axes to use in computing the vectors. Each bit signifies
// selection of a single axis. The V1x axis bit corresponds to a hex * 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 * 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 * 0x0020. Example: to specify the axes V1x, V1y, V2x, and V2z the
// pattern would be 0x002b. Vector 1 defaults to a force vector and * 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 * 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 * or the other so that two force vectors or two moment vectors are
// calculated. Setting the changeV1 bit or the changeV2 bit will * calculated. Setting the changeV1 bit or the changeV2 bit will
// change that vector to be the opposite of its default. Therefore to * change that vector to be the opposite of its default. Therefore to
// have two force vectors, set changeV1 to 1. * have two force vectors, set changeV1 to 1.
*/
typedef enum { typedef enum {
fx = 0x0001, fx = 0x0001,
...@@ -95,13 +102,15 @@ typedef enum { ...@@ -95,13 +102,15 @@ typedef enum {
changeV1 = 0x0080 changeV1 = 0x0080
} vect_bits_t; } vect_bits_t;
// WARNING_BITS /* WARNING_BITS */
// The warning_bits structure shows the bit pattern for the warning /* 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). * 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 /* XX_NEAR_SET */
// exceeded the near saturation value. /* The xx_near_sat bits signify that the indicated axis has reached or
* exceeded the near saturation value.
*/
typedef enum { typedef enum {
fx_near_sat = 0x0001, fx_near_sat = 0x0001,
...@@ -112,59 +121,64 @@ typedef enum { ...@@ -112,59 +121,64 @@ typedef enum {
mz_near_sat = 0x0020 mz_near_sat = 0x0020
} warning_bits_t; } warning_bits_t;
// ERROR_BITS /* ERROR_BITS */
// XX_SAT /* XX_SAT */
// MEMORY_ERROR /* MEMORY_ERROR */
// SENSOR_CHANGE /* SENSOR_CHANGE */
//
// The error_bits structure shows the bit pattern for the error word. /* 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 * 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 * xx_sat bits signify that the indicated axis has reached or exceeded
// the saturation value. The memory_error bit indicates that a problem * the saturation value. The memory_error bit indicates that a problem
// was detected in the on-board RAM during the power-up * was detected in the on-board RAM during the power-up
// initialization. The sensor_change bit indicates that a sensor other * initialization. The sensor_change bit indicates that a sensor other
// than the one originally plugged in has passed its CRC check. This * than the one originally plugged in has passed its CRC check. This
// bit latches, and must be reset by the user. * bit latches, and must be reset by the user.
// *
// SYSTEM_BUSY */
//
// The system_busy bit indicates that the JR3 DSP is currently busy /* SYSTEM_BUSY */
// and is not calculating force data. This occurs when a new
// coordinate transformation, or new sensor full scale is set by the /* The system_busy bit indicates that the JR3 DSP is currently busy
// user. A very fast system using the force data for feedback might * and is not calculating force data. This occurs when a new
// become unstable during the approximately 4 ms needed to accomplish * coordinate transformation, or new sensor full scale is set by the
// these calculations. This bit will also become active when a new * user. A very fast system using the force data for feedback might
// sensor is plugged in and the system needs to recalculate the * become unstable during the approximately 4 ms needed to accomplish
// calibration CRC. * these calculations. This bit will also become active when a new
// * sensor is plugged in and the system needs to recalculate the
// CAL_CRC_BAD * calibration CRC.
// */
// The cal_crc_bad bit indicates that the calibration CRC has not
// calculated to zero. CRC is short for cyclic redundancy code. It is /* CAL_CRC_BAD */
// a method for determining the integrity of messages in data
// communication. The calibration data stored inside the sensor is /* The cal_crc_bad bit indicates that the calibration CRC has not
// transmitted to the JR3 DSP along with the sensor data. The * calculated to zero. CRC is short for cyclic redundancy code. It is
// calibration data has a CRC attached to the end of it, to assist in * a method for determining the integrity of messages in data
// determining the completeness and integrity of the calibration data * communication. The calibration data stored inside the sensor is
// received from the sensor. There are two reasons the CRC may not * transmitted to the JR3 DSP along with the sensor data. The
// have calculated to zero. The first is that all the calibration data * calibration data has a CRC attached to the end of it, to assist in
// has not yet been received, the second is that the calibration data * determining the completeness and integrity of the calibration data
// has been corrupted. A typical sensor transmits the entire contents * received from the sensor. There are two reasons the CRC may not
// of its calibration matrix over 30 times a second. Therefore, if * have calculated to zero. The first is that all the calibration data
// this bit is not zero within a couple of seconds after the sensor * has not yet been received, the second is that the calibration data
// has been plugged in, there is a problem with the sensor's * has been corrupted. A typical sensor transmits the entire contents
// calibration data. * of its calibration matrix over 30 times a second. Therefore, if
// * this bit is not zero within a couple of seconds after the sensor
// WATCH_DOG * has been plugged in, there is a problem with the sensor's
// WATCH_DOG2 * calibration data.
// */
// 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 /* WATCH_DOG */
// acting correctly, while watch_dog2 indicates that sensor data and /* WATCH_DOG2 */
// clock are being received. It is possible for watch_dog2 to go off
// while watch_dog does not. This would indicate an improper clock /* The watch_dog and watch_dog2 bits are sensor, not processor, watch
// signal, while data is acting correctly. If either watch dog barks, * dog bits. Watch_dog indicates that the sensor data line seems to be
// the sensor data is not being received correctly. * 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.
*/
typedef enum { typedef enum {
fx_sat = 0x0001, fx_sat = 0x0001,
...@@ -181,29 +195,34 @@ typedef enum { ...@@ -181,29 +195,34 @@ typedef enum {
watch_dog = 0x8000 watch_dog = 0x8000
} error_bits_t; } error_bits_t;
// THRESH_STRUCT /* 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. /* This structure shows the layout for a single threshold packet inside of a
// 1. data_address contains the address of the data for that threshold. This * load envelope. Each load envelope can contain several threshold structures.
// includes filtered, unfiltered, raw, rate, counters, error and warning data * 1. data_address contains the address of the data for that threshold. This
// 2. threshold is the is the value at which, if data is above or below, the * includes filtered, unfiltered, raw, rate, counters, error and warning data
// bits will be set ... (pag.24). * 2. threshold is the is the value at which, if data is above or below, the
// 3. bit_pattern contains the bits that will be set if the threshold value is * bits will be set ... (pag.24).
// met or exceeded. * 3. bit_pattern contains the bits that will be set if the threshold value is
* met or exceeded.
*/
typedef struct thresh_struct { typedef struct thresh_struct {
s32 data_address; s32 data_address;
s32 threshold; s32 threshold;
s32 bit_pattern; s32 bit_pattern;
} thresh_struct; } thresh_struct;
// LE_STRUCT /* LE_STRUCT */
// Layout of a load enveloped packet. Four thresholds are showed ... for more
// see manual (pag.25) /* Layout of a load enveloped packet. Four thresholds are showed ... for more
// 1. latch_bits is a bit pattern that show which bits the user wants to latch. * see manual (pag.25)
// The latched bits will not be reset once the threshold which set them is * 1. latch_bits is a bit pattern that show which bits the user wants to latch.
// no longer true. In that case the user must reset them using the reset_bit * The latched bits will not be reset once the threshold which set them is
// command. * no longer true. In that case the user must reset them using the reset_bit
// 2. number_of_xx_thresholds specify how many GE/LE threshold there are. * command.
* 2. number_of_xx_thresholds specify how many GE/LE threshold there are.
*/
typedef struct { typedef struct {
s32 latch_bits; s32 latch_bits;
s32 number_of_ge_thresholds; s32 number_of_ge_thresholds;
...@@ -212,17 +231,19 @@ typedef struct { ...@@ -212,17 +231,19 @@ typedef struct {
s32 reserved; s32 reserved;
} le_struct_t; } le_struct_t;
// LINK_TYPES /* LINK_TYPES */
// Link types is an enumerated value showing the different possible transform /* Link types is an enumerated value showing the different possible transform
// link types. * link types.
// 0 - end transform packet * 0 - end transform packet
// 1 - translate along X axis (TX) * 1 - translate along X axis (TX)
// 2 - translate along Y axis (TY) * 2 - translate along Y axis (TY)
// 3 - translate along Z axis (TZ) * 3 - translate along Z axis (TZ)
// 4 - rotate about X axis (RX) * 4 - rotate about X axis (RX)
// 5 - rotate about Y axis (RY) * 5 - rotate about Y axis (RY)
// 6 - rotate about Z axis (RZ) * 6 - rotate about Z axis (RZ)
// 7 - negate all axes (NEG) * 7 - negate all axes (NEG)
*/
typedef enum link_types { typedef enum link_types {
end_x_form, end_x_form,
tx, tx,
...@@ -234,8 +255,8 @@ typedef enum link_types { ...@@ -234,8 +255,8 @@ typedef enum link_types {
neg neg
} link_types; } link_types;
// TRANSFORM /* TRANSFORM */
// Structure used to describe a transform. /* Structure used to describe a transform. */
typedef struct { typedef struct {
struct { struct {
u_val_t link_type; u_val_t link_type;
...@@ -243,153 +264,163 @@ typedef struct { ...@@ -243,153 +264,163 @@ typedef struct {
} link[8]; } link[8];
} intern_transform_t; } intern_transform_t;
// JR3 force/torque sensor data definition. For more information see sensor and /* JR3 force/torque sensor data definition. For more information see sensor and */
// hardware manuals. /* hardware manuals. */
typedef struct force_sensor_data { typedef struct force_sensor_data {
// Raw_channels is the area used to store the raw data coming from /* Raw_channels is the area used to store the raw data coming from */
// the sensor. /* the sensor. */
raw_channel_t raw_channels[16]; /* offset 0x0000 */ raw_channel_t raw_channels[16]; /* offset 0x0000 */
// Copyright is a null terminated ASCII string containing the JR3 /* Copyright is a null terminated ASCII string containing the JR3 */
// copyright notice. /* copyright notice. */
u_val_t copyright[0x0018]; /* offset 0x0040 */ u_val_t copyright[0x0018]; /* offset 0x0040 */
s_val_t reserved1[0x0008]; /* offset 0x0058 */ s_val_t reserved1[0x0008]; /* offset 0x0058 */
// Shunts contains the sensor shunt readings. Some JR3 sensors have /* Shunts contains the sensor shunt readings. Some JR3 sensors have
// the ability to have their gains adjusted. This allows the * the ability to have their gains adjusted. This allows the
// hardware full scales to be adjusted to potentially allow * hardware full scales to be adjusted to potentially allow
// better resolution or dynamic range. For sensors that have * better resolution or dynamic range. For sensors that have
// this ability, the gain of each sensor channel is measured at * this ability, the gain of each sensor channel is measured at
// the time of calibration using a shunt resistor. The shunt * the time of calibration using a shunt resistor. The shunt
// resistor is placed across one arm of the resistor bridge, and * resistor is placed across one arm of the resistor bridge, and
// the resulting change in the output of that channel is * the resulting change in the output of that channel is
// measured. This measurement is called the shunt reading, and * measured. This measurement is called the shunt reading, and
// is recorded here. If the user has changed the gain of the // * is recorded here. If the user has changed the gain of the //
// sensor, and made new shunt measurements, those shunt * sensor, and made new shunt measurements, those shunt
// measurements can be placed here. The JR3 DSP will then scale * measurements can be placed here. The JR3 DSP will then scale
// the calibration matrix such so that the gains are again * the calibration matrix such so that the gains are again
// proper for the indicated shunt readings. If shunts is 0, then * proper for the indicated shunt readings. If shunts is 0, then
// the sensor cannot have its gain changed. For details on * the sensor cannot have its gain changed. For details on
// changing the sensor gain, and making shunts readings, please * changing the sensor gain, and making shunts readings, please
// see the sensor manual. To make these values take effect the * see the sensor manual. To make these values take effect the
// user must call either command (5) use transform # (pg. 33) or * user must call either command (5) use transform # (pg. 33) or
// command (10) set new full scales (pg. 38). * command (10) set new full scales (pg. 38).
*/
six_axis_array_t shunts; /* offset 0x0060 */ six_axis_array_t shunts; /* offset 0x0060 */
s32 reserved2[2]; /* offset 0x0066 */ s32 reserved2[2]; /* offset 0x0066 */
// Default_FS contains the full scale that is used if the user does /* Default_FS contains the full scale that is used if the user does */
// not set a full scale. /* not set a full scale. */
six_axis_array_t default_FS; /* offset 0x0068 */ six_axis_array_t default_FS; /* offset 0x0068 */
s_val_t reserved3; /* offset 0x006e */ s_val_t reserved3; /* offset 0x006e */
// Load_envelope_num is the load envelope number that is currently /* 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 * in use. This value is set by the user after one of the load
// envelopes has been initialized. * envelopes has been initialized.
*/
s_val_t load_envelope_num; /* offset 0x006f */ s_val_t load_envelope_num; /* offset 0x006f */
// Min_full_scale is the recommend minimum full scale. /* Min_full_scale is the recommend minimum full scale. */
//
// These values in conjunction with max_full_scale (pg. 9) helps /* These values in conjunction with max_full_scale (pg. 9) helps
// determine the appropriate value for setting the full scales. The * determine the appropriate value for setting the full scales. The
// software allows the user to set the sensor full scale to an * software allows the user to set the sensor full scale to an
// arbitrary value. But setting the full scales has some hazards. If * arbitrary value. But setting the full scales has some hazards. If
// the full scale is set too low, the data will saturate * the full scale is set too low, the data will saturate
// prematurely, and dynamic range will be lost. If the full scale is * 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 * set too high, then resolution is lost as the data is shifted to
// the right and the least significant bits are lost. Therefore the * the right and the least significant bits are lost. Therefore the
// maximum full scale is the maximum value at which no resolution is * 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 * lost, and the minimum full scale is the value at which the data
// will not saturate prematurely. These values are calculated * will not saturate prematurely. These values are calculated
// whenever a new coordinate transformation is calculated. It is * whenever a new coordinate transformation is calculated. It is
// possible for the recommended maximum to be less than the * possible for the recommended maximum to be less than the
// recommended minimum. This comes about primarily when using * recommended minimum. This comes about primarily when using
// coordinate translations. If this is the case, it means that any * coordinate translations. If this is the case, it means that any
// full scale selection will be a compromise between dynamic range * full scale selection will be a compromise between dynamic range
// and resolution. It is usually recommended to compromise in favor * and resolution. It is usually recommended to compromise in favor
// of resolution which means that the recommend maximum full scale * of resolution which means that the recommend maximum full scale
// should be chosen. * should be chosen.
// *
// WARNING: Be sure that the full scale is no less than 0.4% of the * 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 * recommended minimum full scale. Full scales below this value will
// cause erroneous results. * cause erroneous results.
*/
six_axis_array_t min_full_scale; /* offset 0x0070 */ six_axis_array_t min_full_scale; /* offset 0x0070 */
s_val_t reserved4; /* offset 0x0076 */ s_val_t reserved4; /* offset 0x0076 */
// Transform_num is the transform number that is currently in use. /* 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 * This value is set by the JR3 DSP after the user has used command
// (5) use transform # (pg. 33). * (5) use transform # (pg. 33).
*/
s_val_t transform_num; /* offset 0x0077 */ s_val_t transform_num; /* offset 0x0077 */
// Max_full_scale is the recommended maximum full scale. See /* Max_full_scale is the recommended maximum full scale. See */
// min_full_scale (pg. 9) for more details. /* min_full_scale (pg. 9) for more details. */
six_axis_array_t max_full_scale; /* offset 0x0078 */ six_axis_array_t max_full_scale; /* offset 0x0078 */
s_val_t reserved5; /* offset 0x007e */ s_val_t reserved5; /* offset 0x007e */
// Peak_address is the address of the data which will be monitored /* 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 * by the peak routine. This value is set by the user. The peak
// routine will monitor any 8 contiguous addresses for peak values. * routine will monitor any 8 contiguous addresses for peak values.
// (ex. to watch filter3 data for peaks, set this value to 0x00a8). * (ex. to watch filter3 data for peaks, set this value to 0x00a8).
*/
s_val_t peak_address; /* offset 0x007f */ s_val_t peak_address; /* offset 0x007f */
// Full_scale is the sensor full scales which are currently in use. /* Full_scale is the sensor full scales which are currently in use.
// Decoupled and filtered data is scaled so that +/- 16384 is equal * Decoupled and filtered data is scaled so that +/- 16384 is equal
// to the full scales. The engineering units used are indicated by * to the full scales. The engineering units used are indicated by
// the units value discussed on page 16. The full scales for Fx, Fy, * 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 * 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 * 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 * 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 * 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 * V1 and V2 will always be equal to the largest full scale of the
// axes used for each vector respectively. * axes used for each vector respectively.
*/
force_array_t full_scale; /* offset 0x0080 */ force_array_t full_scale; /* offset 0x0080 */
// Offsets contains the sensor offsets. These values are subtracted from /* Offsets contains the sensor offsets. These values are subtracted from
// the sensor data to obtain the decoupled data. The offsets are set a * the sensor data to obtain the decoupled data. The offsets are set a
// few seconds (< 10) after the calibration data has been received. * few seconds (< 10) after the calibration data has been received.
// They are set so that the output data will be zero. These values * 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 * 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 * written here within 2 ms of being written. To set future
// decoupled data to zero, add these values to the current decoupled * decoupled data to zero, add these values to the current decoupled
// data values and place the sum here. The JR3 DSP will change these * 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 * 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 * 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. * about Z by 90 degrees, FY would be 5 and all others would be zero.
*/
six_axis_array_t offsets; /* offset 0x0088 */ six_axis_array_t offsets; /* offset 0x0088 */
// Offset_num is the number of the offset currently in use. This /* 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 * 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. * offset # command (pg. 34). It can vary between 0 and 15.
*/
s_val_t offset_num; /* offset 0x008e */ s_val_t offset_num; /* offset 0x008e */
// Vect_axes is a bit map showing which of the axes are being used /* 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 * in the vector calculations. This value is set by the JR3 DSP
// after the user has executed the set vector axes command (pg. 37). * after the user has executed the set vector axes command (pg. 37).
*/
u_val_t vect_axes; /* offset 0x008f */ u_val_t vect_axes; /* offset 0x008f */
// Filter0 is the decoupled, unfiltered data from the JR3 sensor. /* Filter0 is the decoupled, unfiltered data from the JR3 sensor.
// This data has had the offsets removed. * This data has had the offsets removed.
// *
// These force_arrays hold the filtered data. The decoupled data is * These force_arrays hold the filtered data. The decoupled data is
// passed through cascaded low pass filters. Each succeeding filter * passed through cascaded low pass filters. Each succeeding filter
// has a cutoff frequency of 1/4 of the preceding filter. The cutoff * 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. * 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 * For a typical sensor with a sample rate of 8 kHz, the cutoff
// frequency of filter1 would be 500 Hz. The following filters would * 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. * cutoff at 125 Hz, 31.25 Hz, 7.813 Hz, 1.953 Hz and 0.4883 Hz.
*/
struct force_array filter[7]; /* offset 0x0090, struct force_array filter[7]; /* offset 0x0090,
offset 0x0098, offset 0x0098,
...@@ -399,89 +430,95 @@ typedef struct force_sensor_data { ...@@ -399,89 +430,95 @@ typedef struct force_sensor_data {
offset 0x00b8 , offset 0x00b8 ,
offset 0x00c0 */ offset 0x00c0 */
// Rate_data is the calculated rate data. It is a first derivative /* Rate_data is the calculated rate data. It is a first derivative
// calculation. It is calculated at a frequency specified by the * calculation. It is calculated at a frequency specified by the
// variable rate_divisor (pg. 12). The data on which the rate is * variable rate_divisor (pg. 12). The data on which the rate is
// calculated is specified by the variable rate_address (pg. 12). * calculated is specified by the variable rate_address (pg. 12).
*/
force_array_t rate_data; /* offset 0x00c8 */ force_array_t rate_data; /* offset 0x00c8 */
// Minimum_data & maximum_data are the minimum and maximum (peak) /* Minimum_data & maximum_data are the minimum and maximum (peak)
// data values. The JR3 DSP can monitor any 8 contiguous data items * data values. The JR3 DSP can monitor any 8 contiguous data items
// for minimums and maximums at full sensor bandwidth. This area is * for minimums and maximums at full sensor bandwidth. This area is
// only updated at user request. This is done so that the user does * 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 * 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). * 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 * The address of the data to watch for peaks is stored in the
// variable peak_address (pg. 10). Peak data is lost when executing * variable peak_address (pg. 10). Peak data is lost when executing
// a coordinate transformation or a full scale change. Peak data is * a coordinate transformation or a full scale change. Peak data is
// also lost when plugging in a new sensor. * also lost when plugging in a new sensor.
*/
force_array_t minimum_data; /* offset 0x00d0 */ force_array_t minimum_data; /* offset 0x00d0 */
force_array_t maximum_data; /* offset 0x00d8 */ force_array_t maximum_data; /* offset 0x00d8 */
// Near_sat_value & sat_value contain the value used to determine if /* Near_sat_value & sat_value contain the value used to determine if
// the raw sensor is saturated. Because of decoupling and offset * the raw sensor is saturated. Because of decoupling and offset
// removal, it is difficult to tell from the processed data if the * removal, it is difficult to tell from the processed data if the
// sensor is saturated. These values, in conjunction with the error * sensor is saturated. These values, in conjunction with the error
// and warning words (pg. 14), provide this critical information. * and warning words (pg. 14), provide this critical information.
// These two values may be set by the host processor. These values * These two values may be set by the host processor. These values
// are positive signed values, since the saturation logic uses the * are positive signed values, since the saturation logic uses the
// absolute values of the raw data. The near_sat_value defaults to * absolute values of the raw data. The near_sat_value defaults to
// approximately 80% of the ADC's full scale, which is 26214, while * approximately 80% of the ADC's full scale, which is 26214, while
// sat_value defaults to the ADC's full scale: * sat_value defaults to the ADC's full scale:
// *
// sat_value = 32768 - 2^(16 - ADC bits) * sat_value = 32768 - 2^(16 - ADC bits)
*/
s_val_t near_sat_value; /* offset 0x00e0 */ s_val_t near_sat_value; /* offset 0x00e0 */
s_val_t sat_value; /* offset 0x00e1 */ s_val_t sat_value; /* offset 0x00e1 */
// Rate_address, rate_divisor & rate_count contain the data used to /* Rate_address, rate_divisor & rate_count contain the data used to
// control the calculations of the rates. Rate_address is the * control the calculations of the rates. Rate_address is the
// address of the data used for the rate calculation. The JR3 DSP * address of the data used for the rate calculation. The JR3 DSP
// will calculate rates for any 8 contiguous values (ex. to * will calculate rates for any 8 contiguous values (ex. to
// calculate rates for filter3 data set rate_address to 0x00a8). * calculate rates for filter3 data set rate_address to 0x00a8).
// Rate_divisor is how often the rate is calculated. If rate_divisor * Rate_divisor is how often the rate is calculated. If rate_divisor
// is 1, the rates are calculated at full sensor bandwidth. If * is 1, the rates are calculated at full sensor bandwidth. If
// rate_divisor is 200, rates are calculated every 200 samples. * rate_divisor is 200, rates are calculated every 200 samples.
// Rate_divisor can be any value between 1 and 65536. Set * Rate_divisor can be any value between 1 and 65536. Set
// rate_divisor to 0 to calculate rates every 65536 samples. * rate_divisor to 0 to calculate rates every 65536 samples.
// Rate_count starts at zero and counts until it equals * Rate_count starts at zero and counts until it equals
// rate_divisor, at which point the rates are calculated, and * rate_divisor, at which point the rates are calculated, and
// rate_count is reset to 0. When setting a new rate divisor, it is * 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 * a good idea to set rate_count to one less than rate divisor. This
// will minimize the time necessary to start the rate calculations. * will minimize the time necessary to start the rate calculations.
*/
s_val_t rate_address; /* offset 0x00e2 */ s_val_t rate_address; /* offset 0x00e2 */
u_val_t rate_divisor; /* offset 0x00e3 */ u_val_t rate_divisor; /* offset 0x00e3 */
u_val_t rate_count; /* offset 0x00e4 */ u_val_t rate_count; /* offset 0x00e4 */
// Command_word2 through command_word0 are the locations used to /* Command_word2 through command_word0 are the locations used to
// send commands to the JR3 DSP. Their usage varies with the command * send commands to the JR3 DSP. Their usage varies with the command
// and is detailed later in the Command Definitions section (pg. * and is detailed later in the Command Definitions section (pg.
// 29). In general the user places values into various memory * 29). In general the user places values into various memory
// locations, and then places the command word into command_word0. * locations, and then places the command word into command_word0.
// The JR3 DSP will process the command and place a 0 into * The JR3 DSP will process the command and place a 0 into
// command_word0 to indicate successful completion. Alternatively * command_word0 to indicate successful completion. Alternatively
// the JR3 DSP will place a negative number into command_word0 to * the JR3 DSP will place a negative number into command_word0 to
// indicate an error condition. Please note the command locations * indicate an error condition. Please note the command locations
// are numbered backwards. (I.E. command_word2 comes before * are numbered backwards. (I.E. command_word2 comes before
// command_word1). * command_word1).
*/
s_val_t command_word2; /* offset 0x00e5 */ s_val_t command_word2; /* offset 0x00e5 */
s_val_t command_word1; /* offset 0x00e6 */ s_val_t command_word1; /* offset 0x00e6 */
s_val_t command_word0; /* offset 0x00e7 */ s_val_t command_word0; /* offset 0x00e7 */
// Count1 through count6 are unsigned counters which are incremented /* Count1 through count6 are unsigned counters which are incremented
// every time the matching filters are calculated. Filter1 is * every time the matching filters are calculated. Filter1 is
// calculated at the sensor data bandwidth. So this counter would * calculated at the sensor data bandwidth. So this counter would
// increment at 8 kHz for a typical sensor. The rest of the counters * increment at 8 kHz for a typical sensor. The rest of the counters
// are incremented at 1/4 the interval of the counter immediately * 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. * 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 * These counters can be used to wait for data. Each time the
// counter changes, the corresponding data set can be sampled, and * counter changes, the corresponding data set can be sampled, and
// this will insure that the user gets each sample, once, and only * this will insure that the user gets each sample, once, and only
// once. * once.
*/
u_val_t count1; /* offset 0x00e8 */ u_val_t count1; /* offset 0x00e8 */
u_val_t count2; /* offset 0x00e9 */ u_val_t count2; /* offset 0x00e9 */
...@@ -490,145 +527,158 @@ typedef struct force_sensor_data { ...@@ -490,145 +527,158 @@ typedef struct force_sensor_data {
u_val_t count5; /* offset 0x00ec */ u_val_t count5; /* offset 0x00ec */
u_val_t count6; /* offset 0x00ed */ u_val_t count6; /* offset 0x00ed */
// Error_count is a running count of data reception errors. If this /* Error_count is a running count of data reception errors. If this
// counter is changing rapidly, it probably indicates a bad sensor * counter is changing rapidly, it probably indicates a bad sensor
// cable connection or other hardware problem. In most installations * cable connection or other hardware problem. In most installations
// error_count should not change at all. But it is possible in an * error_count should not change at all. But it is possible in an
// extremely noisy environment to experience occasional errors even * extremely noisy environment to experience occasional errors even
// without a hardware problem. If the sensor is well grounded, this * without a hardware problem. If the sensor is well grounded, this
// is probably unavoidable in these environments. On the occasions * is probably unavoidable in these environments. On the occasions
// where this counter counts a bad sample, that sample is ignored. * where this counter counts a bad sample, that sample is ignored.
*/
u_val_t error_count; /* offset 0x00ee */ u_val_t error_count; /* offset 0x00ee */
// Count_x is a counter which is incremented every time the JR3 DSP /* 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 * 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 * 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 * used to determine if the JR3 DSP is alive. See the Performance
// Issues section on pg. 49 for more details. * Issues section on pg. 49 for more details.
*/
u_val_t count_x; /* offset 0x00ef */ u_val_t count_x; /* offset 0x00ef */
// Warnings & errors contain the warning and error bits /* Warnings & errors contain the warning and error bits
// respectively. The format of these two words is discussed on page * respectively. The format of these two words is discussed on page
// 21 under the headings warnings_bits and error_bits. * 21 under the headings warnings_bits and error_bits.
*/
u_val_t warnings; /* offset 0x00f0 */ u_val_t warnings; /* offset 0x00f0 */
u_val_t errors; /* offset 0x00f1 */ u_val_t errors; /* offset 0x00f1 */
// Threshold_bits is a word containing the bits that are set by the /* Threshold_bits is a word containing the bits that are set by the
// load envelopes. See load_envelopes (pg. 17) and thresh_struct * load envelopes. See load_envelopes (pg. 17) and thresh_struct
// (pg. 23) for more details. * (pg. 23) for more details.
*/
s_val_t threshold_bits; /* offset 0x00f2 */ s_val_t threshold_bits; /* offset 0x00f2 */
// Last_crc is the value that shows the actual calculated CRC. CRC /* Last_crc is the value that shows the actual calculated CRC. CRC
// is short for cyclic redundancy code. It should be zero. See the * is short for cyclic redundancy code. It should be zero. See the
// description for cal_crc_bad (pg. 21) for more information. * description for cal_crc_bad (pg. 21) for more information.
*/
s_val_t last_CRC; /* offset 0x00f3 */ s_val_t last_CRC; /* offset 0x00f3 */
// EEProm_ver_no contains the version number of the sensor EEProm. /* EEProm_ver_no contains the version number of the sensor EEProm.
// EEProm version numbers can vary between 0 and 255. * EEProm version numbers can vary between 0 and 255.
// Software_ver_no contains the software version number. Version * Software_ver_no contains the software version number. Version
// 3.02 would be stored as 302. * 3.02 would be stored as 302.
*/
s_val_t eeprom_ver_no; /* offset 0x00f4 */ s_val_t eeprom_ver_no; /* offset 0x00f4 */
s_val_t software_ver_no; /* offset 0x00f5 */ s_val_t software_ver_no; /* offset 0x00f5 */
// Software_day & software_year are the release date of the software /* Software_day & software_year are the release date of the software
// the JR3 DSP is currently running. Day is the day of the year, * 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 * with January 1 being 1, and December 31, being 365 for non leap
// years. * years.
*/
s_val_t software_day; /* offset 0x00f6 */ s_val_t software_day; /* offset 0x00f6 */
s_val_t software_year; /* offset 0x00f7 */ s_val_t software_year; /* offset 0x00f7 */
// Serial_no & model_no are the two values which uniquely identify a /* Serial_no & model_no are the two values which uniquely identify a
// sensor. This model number does not directly correspond to the JR3 * sensor. This model number does not directly correspond to the JR3
// model number, but it will provide a unique identifier for * model number, but it will provide a unique identifier for
// different sensor configurations. * different sensor configurations.
*/
u_val_t serial_no; /* offset 0x00f8 */ u_val_t serial_no; /* offset 0x00f8 */
u_val_t model_no; /* offset 0x00f9 */ u_val_t model_no; /* offset 0x00f9 */
// Cal_day & cal_year are the sensor calibration date. Day is the /* 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 * day of the year, with January 1 being 1, and December 31, being
// 366 for leap years. * 366 for leap years.
*/
s_val_t cal_day; /* offset 0x00fa */ s_val_t cal_day; /* offset 0x00fa */
s_val_t cal_year; /* offset 0x00fb */ s_val_t cal_year; /* offset 0x00fb */
// Units is an enumerated read only value defining the engineering /* Units is an enumerated read only value defining the engineering
// units used in the sensor full scale. The meanings of particular * units used in the sensor full scale. The meanings of particular
// values are discussed in the section detailing the force_units * values are discussed in the section detailing the force_units
// structure on page 22. The engineering units are setto customer * structure on page 22. The engineering units are setto customer
// specifications during sensor manufacture and cannot be changed by * specifications during sensor manufacture and cannot be changed by
// writing to Units. * writing to Units.
// *
// Bits contains the number of bits of resolution of the ADC * Bits contains the number of bits of resolution of the ADC
// currently in use. * currently in use.
// *
// Channels is a bit field showing which channels the current sensor * Channels is a bit field showing which channels the current sensor
// is capable of sending. If bit 0 is active, this sensor can send * 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, * 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 * etc. This bit can be active, even if the sensor is not currently
// sending this channel. Some sensors are configurable as to which * sending this channel. Some sensors are configurable as to which
// channels to send, and this field only contains information on the * channels to send, and this field only contains information on the
// channels available to send, not on the current configuration. To * channels available to send, not on the current configuration. To
// find which channels are currently being sent, monitor the * find which channels are currently being sent, monitor the
// Raw_time fields (pg. 19) in the raw_channels array (pg. 7). If * Raw_time fields (pg. 19) in the raw_channels array (pg. 7). If
// the time is changing periodically, then that channel is being * the time is changing periodically, then that channel is being
// received. * received.
*/
u_val_t units; /* offset 0x00fc */ u_val_t units; /* offset 0x00fc */
s_val_t bits; /* offset 0x00fd */ s_val_t bits; /* offset 0x00fd */
s_val_t channels; /* offset 0x00fe */ s_val_t channels; /* offset 0x00fe */
// Thickness specifies the overall thickness of the sensor from /* Thickness specifies the overall thickness of the sensor from
// flange to flange. The engineering units for this value are * flange to flange. The engineering units for this value are
// contained in units (pg. 16). The sensor calibration is relative * contained in units (pg. 16). The sensor calibration is relative
// to the center of the sensor. This value allows easy coordinate * to the center of the sensor. This value allows easy coordinate
// transformation from the center of the sensor to either flange. * transformation from the center of the sensor to either flange.
*/
s_val_t thickness; /* offset 0x00ff */ s_val_t thickness; /* offset 0x00ff */
// Load_envelopes is a table containing the load envelope /* Load_envelopes is a table containing the load envelope
// descriptions. There are 16 possible load envelope slots in the * descriptions. There are 16 possible load envelope slots in the
// table. The slots are on 16 word boundaries and are numbered 0-15. * 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 * 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 * 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 * single load envelope can be larger than a single slot. The
// software has been tested and ran satisfactorily with 50 * software has been tested and ran satisfactorily with 50
// thresholds active. A single load envelope this large would take * 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 * 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 * order that is most efficient for the JR3 DSP. The structure is
// detailed later in the section showing the definition of the * detailed later in the section showing the definition of the
// le_struct structure (pg. 23). * le_struct structure (pg. 23).
*/
le_struct_t load_envelopes[0x10]; /* offset 0x0100 */ le_struct_t load_envelopes[0x10]; /* offset 0x0100 */
// Transforms is a table containing the transform descriptions. /* Transforms is a table containing the transform descriptions.
// There are 16 possible transform slots in the table. The slots are * There are 16 possible transform slots in the table. The slots are
// on 16 word boundaries and are numbered 0-15. Each transform needs * 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 * 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 * 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 * 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 * + 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. * with 7 links. Two slots can contain a transform that is 15 links.
// The layout is detailed later in the section showing the * The layout is detailed later in the section showing the
// definition of the transform structure (pg. 26). * definition of the transform structure (pg. 26).
*/
intern_transform_t transforms[0x10]; /* offset 0x0200 */ intern_transform_t transforms[0x10]; /* offset 0x0200 */
} jr3_channel_t; } jr3_channel_t;
typedef struct { typedef struct {
struct { struct {
u_val_t program_low[0x4000]; // 0x00000 - 0x10000 u_val_t program_low[0x4000]; /* 0x00000 - 0x10000 */
jr3_channel_t data; // 0x10000 - 0x10c00 jr3_channel_t data; /* 0x10000 - 0x10c00 */
char pad2[0x30000 - 0x00c00]; // 0x10c00 - 0x40000 char pad2[0x30000 - 0x00c00]; /* 0x10c00 - 0x40000 */
u_val_t program_high[0x8000]; // 0x40000 - 0x60000 u_val_t program_high[0x8000]; /* 0x40000 - 0x60000 */
u32 reset; // 0x60000 - 0x60004 u32 reset; /* 0x60000 - 0x60004 */
char pad3[0x20000 - 0x00004]; // 0x60004 - 0x80000 char pad3[0x20000 - 0x00004]; /* 0x60004 - 0x80000 */
} channel[4]; } channel[4];
} jr3_t; } jr3_t;
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