/*
  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>

  This program is free software; you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation; either version 2 of the License, or
  (at your option) any later version.

  This program is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details.

  You should have received a copy of the GNU General Public License
  along with this program; if not, write to the Free Software
  Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.

*/
/*
Driver: jr3_pci
Description: JR3/PCI force sensor board
Author: Anders Blomdell <anders.blomdell@control.lth.se>
Status: works
Devices: [JR3] PCI force sensor board (jr3_pci)

  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 http://www.comedi.org
  in the comedi_nonfree_firmware tarball.

  Configuration options:
  [0] - PCI bus number - if bus number and slot number are 0,
                         then driver search for first unused card
  [1] - PCI slot number

*/

#include "../comedidev.h"

#include <linux/delay.h>
#include <linux/ctype.h>
#include <linux/firmware.h>
#include <linux/jiffies.h>
#include <linux/slab.h>
#include <linux/timer.h>
#include <linux/kernel.h>
#include "comedi_pci.h"
#include "jr3_pci.h"

#define PCI_VENDOR_ID_JR3 0x1762
#define PCI_DEVICE_ID_JR3_1_CHANNEL 0x3111
#define PCI_DEVICE_ID_JR3_1_CHANNEL_NEW 0x1111
#define PCI_DEVICE_ID_JR3_2_CHANNEL 0x3112
#define PCI_DEVICE_ID_JR3_3_CHANNEL 0x3113
#define PCI_DEVICE_ID_JR3_4_CHANNEL 0x3114

static int jr3_pci_attach(struct comedi_device *dev,
			  struct comedi_devconfig *it);
static int jr3_pci_detach(struct comedi_device *dev);

static struct comedi_driver driver_jr3_pci = {
	.driver_name = "jr3_pci",
	.module = THIS_MODULE,
	.attach = jr3_pci_attach,
	.detach = jr3_pci_detach,
};

static DEFINE_PCI_DEVICE_TABLE(jr3_pci_pci_table) = {
	{
	PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_1_CHANNEL,
		    PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, {
	PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_1_CHANNEL_NEW,
		    PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, {
	PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_2_CHANNEL,
		    PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, {
	PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_3_CHANNEL,
		    PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, {
	PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_4_CHANNEL,
		    PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, {
	0}
};

MODULE_DEVICE_TABLE(pci, jr3_pci_pci_table);

struct jr3_pci_dev_private {

	struct pci_dev *pci_dev;
	int pci_enabled;
	volatile struct jr3_t *iobase;
	int n_channels;
	struct timer_list timer;
};

struct poll_delay_t {

	int min;
	int max;
};

struct jr3_pci_subdev_private {
	volatile struct jr3_channel *channel;
	unsigned long next_time_min;
	unsigned long next_time_max;
	enum { 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
	} state;
	int channel_no;
	int serial_no;
	int model_no;
	struct {
		int length;
		struct comedi_krange range;
	} range[9];
	const struct comedi_lrange *range_table_list[8 * 7 + 2];
	unsigned int maxdata_list[8 * 7 + 2];
	u16 errors;
	int retries;
};

/* Hotplug firmware loading stuff */
static int comedi_load_firmware(struct comedi_device *dev, char *name,
				int (*cb)(struct comedi_device *dev,
					const u8 *data, size_t size))
{
	int result = 0;
	const struct firmware *fw;
	char *firmware_path;
	static const char *prefix = "comedi/";
	struct jr3_pci_dev_private *devpriv = dev->private;

	firmware_path = kmalloc(strlen(prefix) + strlen(name) + 1, GFP_KERNEL);
	if (!firmware_path) {
		result = -ENOMEM;
	} else {
		firmware_path[0] = '\0';
		strcat(firmware_path, prefix);
		strcat(firmware_path, name);
		result = request_firmware(&fw, firmware_path,
					  &devpriv->pci_dev->dev);
		if (result == 0) {
			if (!cb)
				result = -EINVAL;
			else
				result = cb(dev, fw->data, fw->size);
			release_firmware(fw);
		}
		kfree(firmware_path);
	}
	return result;
}

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

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

static int is_complete(volatile struct jr3_channel *channel)
{
	return get_s16(&channel->command_word0) == 0;
}

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

static void set_transforms(volatile struct jr3_channel *channel,
			   struct transform_t transf, short num)
{
	int i;

	num &= 0x000f;		/*  Make sure that 0 <= num <= 15 */
	for (i = 0; i < 8; i++) {

		set_u16(&channel->transforms[num].link[i].link_type,
			transf.link[i].link_type);
		udelay(1);
		set_s16(&channel->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(volatile struct jr3_channel *channel,
			  short transf_num)
{
	set_s16(&channel->command_word0, 0x0500 + (transf_num & 0x000f));
}

static void use_offset(volatile struct jr3_channel *channel, short offset_num)
{
	set_s16(&channel->command_word0, 0x0600 + (offset_num & 0x000f));
}

static void set_offset(volatile struct jr3_channel *channel)
{
	set_s16(&channel->command_word0, 0x0700);
}

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

static void set_full_scales(volatile struct jr3_channel *channel,
			    struct six_axis_t full_scale)
{
	printk("%d %d %d %d %d %d\n",
	       full_scale.fx,
	       full_scale.fy,
	       full_scale.fz, full_scale.mx, full_scale.my, full_scale.mz);
	set_s16(&channel->full_scale.fx, full_scale.fx);
	set_s16(&channel->full_scale.fy, full_scale.fy);
	set_s16(&channel->full_scale.fz, full_scale.fz);
	set_s16(&channel->full_scale.mx, full_scale.mx);
	set_s16(&channel->full_scale.my, full_scale.my);
	set_s16(&channel->full_scale.mz, full_scale.mz);
	set_s16(&channel->command_word0, 0x0a00);
}

static struct six_axis_t get_min_full_scales(volatile struct jr3_channel
					     *channel)
{
	struct six_axis_t result;
	result.fx = get_s16(&channel->min_full_scale.fx);
	result.fy = get_s16(&channel->min_full_scale.fy);
	result.fz = get_s16(&channel->min_full_scale.fz);
	result.mx = get_s16(&channel->min_full_scale.mx);
	result.my = get_s16(&channel->min_full_scale.my);
	result.mz = get_s16(&channel->min_full_scale.mz);
	return result;
}

static struct six_axis_t get_max_full_scales(volatile struct jr3_channel
					     *channel)
{
	struct six_axis_t result;
	result.fx = get_s16(&channel->max_full_scale.fx);
	result.fy = get_s16(&channel->max_full_scale.fy);
	result.fz = get_s16(&channel->max_full_scale.fz);
	result.mx = get_s16(&channel->max_full_scale.mx);
	result.my = get_s16(&channel->max_full_scale.my);
	result.mz = get_s16(&channel->max_full_scale.mz);
	return result;
}

static int jr3_pci_ai_insn_read(struct comedi_device *dev,
				struct comedi_subdevice *s,
				struct comedi_insn *insn, unsigned int *data)
{
	int result;
	struct jr3_pci_subdev_private *p;
	int channel;

	p = s->private;
	channel = CR_CHAN(insn->chanspec);
	if (p == NULL || channel > 57) {
		result = -EINVAL;
	} else {
		int i;

		result = insn->n;
		if (p->state != state_jr3_done ||
		    (get_u16(&p->channel->errors) & (watch_dog | watch_dog2 |
						     sensor_change))) {
			/* No sensor or sensor changed */
			if (p->state == state_jr3_done) {
				/* Restart polling */
				p->state = state_jr3_poll;
			}
			result = -EAGAIN;
		}
		for (i = 0; i < insn->n; i++) {
			if (channel < 56) {
				int axis, filter;

				axis = channel % 8;
				filter = channel / 8;
				if (p->state != state_jr3_done) {
					data[i] = 0;
				} else {
					int F = 0;
					switch (axis) {
					case 0:{
							F = get_s16
							    (&p->channel->filter
							     [filter].fx);
						}
						break;
					case 1:{
							F = get_s16
							    (&p->channel->filter
							     [filter].fy);
						}
						break;
					case 2:{
							F = get_s16
							    (&p->channel->filter
							     [filter].fz);
						}
						break;
					case 3:{
							F = get_s16
							    (&p->channel->filter
							     [filter].mx);
						}
						break;
					case 4:{
							F = get_s16
							    (&p->channel->filter
							     [filter].my);
						}
						break;
					case 5:{
							F = get_s16
							    (&p->channel->filter
							     [filter].mz);
						}
						break;
					case 6:{
							F = get_s16
							    (&p->channel->filter
							     [filter].v1);
						}
						break;
					case 7:{
							F = get_s16
							    (&p->channel->filter
							     [filter].v2);
						}
						break;
					}
					data[i] = F + 0x4000;
				}
			} else if (channel == 56) {
				if (p->state != state_jr3_done) {
					data[i] = 0;
				} else {
					data[i] =
					    get_u16(&p->channel->model_no);
				}
			} else if (channel == 57) {
				if (p->state != state_jr3_done) {
					data[i] = 0;
				} else {
					data[i] =
					    get_u16(&p->channel->serial_no);
				}
			}
		}
	}
	return result;
}

static int jr3_pci_open(struct comedi_device *dev)
{
	int i;
	struct jr3_pci_dev_private *devpriv = dev->private;

	printk("jr3_pci_open\n");
	for (i = 0; i < devpriv->n_channels; i++) {
		struct jr3_pci_subdev_private *p;

		p = dev->subdevices[i].private;
		if (p) {
			printk("serial: %p %d (%d)\n", p, p->serial_no,
			       p->channel_no);
		}
	}
	return 0;
}

int read_idm_word(const u8 * data, size_t size, int *pos, unsigned int *val)
{
	int result = 0;
	if (pos != 0 && val != 0) {
		/*  Skip over non hex */
		for (; *pos < size && !isxdigit(data[*pos]); (*pos)++) {
		}
		/*  Collect value */
		*val = 0;
		for (; *pos < size; (*pos)++) {
			int value;
			value = hex_to_bin(data[*pos]);
			if (value >= 0) {
				result = 1;
				*val = (*val << 4) + value;
			} else
				break;
		}
	}
	return result;
}

static int jr3_download_firmware(struct comedi_device *dev, const u8 * data,
				 size_t size)
{
	/*
	 * IDM file format is:
	 *   { count, address, data <count> } *
	 *   ffff
	 */
	int result, more, pos, OK;

	result = 0;
	more = 1;
	pos = 0;
	OK = 0;
	while (more) {
		unsigned int count, addr;

		more = more && read_idm_word(data, size, &pos, &count);
		if (more && count == 0xffff) {
			OK = 1;
			break;
		}
		more = more && read_idm_word(data, size, &pos, &addr);
		while (more && count > 0) {
			unsigned int dummy;
			more = more && read_idm_word(data, size, &pos, &dummy);
			count--;
		}
	}

	if (!OK) {
		result = -ENODATA;
	} else {
		int i;
		struct jr3_pci_dev_private *p = dev->private;

		for (i = 0; i < p->n_channels; i++) {
			struct jr3_pci_subdev_private *sp;

			sp = dev->subdevices[i].private;
			more = 1;
			pos = 0;
			while (more) {
				unsigned int count, addr;
				more = more
				    && read_idm_word(data, size, &pos, &count);
				if (more && count == 0xffff)
					break;
				more = more
				    && read_idm_word(data, size, &pos, &addr);
				printk("Loading#%d %4.4x bytes at %4.4x\n", i,
				       count, addr);
				while (more && count > 0) {
					if (addr & 0x4000) {
						/*  16 bit data, never seen in real life!! */
						unsigned int data1;

						more = more
						    && read_idm_word(data,
								     size, &pos,
								     &data1);
						count--;
						/* printk("jr3_data, not tested\n"); */
						/* jr3[addr + 0x20000 * pnum] = data1; */
					} else {
						/*   Download 24 bit program */
						unsigned int data1, data2;

						more = more
						    && read_idm_word(data,
								     size, &pos,
								     &data1);
						more = more
						    && read_idm_word(data, size,
								     &pos,
								     &data2);
						count -= 2;
						if (more) {
							set_u16(&p->
								iobase->channel
								[i].program_low
								[addr], data1);
							udelay(1);
							set_u16(&p->
								iobase->channel
								[i].program_high
								[addr], data2);
							udelay(1);

						}
					}
					addr++;
				}
			}
		}
	}
	return result;
}

static struct poll_delay_t jr3_pci_poll_subdevice(struct comedi_subdevice *s)
{
	struct poll_delay_t result = poll_delay_min_max(1000, 2000);
	struct jr3_pci_subdev_private *p = s->private;
	int i;

	if (p) {
		volatile struct jr3_channel *channel = p->channel;
		int errors = get_u16(&channel->errors);

		if (errors != p->errors) {
			printk("Errors: %x -> %x\n", p->errors, errors);
			p->errors = errors;
		}
		if (errors & (watch_dog | watch_dog2 | sensor_change)) {
			/*  Sensor communication lost, force poll mode */
			p->state = state_jr3_poll;

		}
		switch (p->state) {
		case state_jr3_poll:{
				u16 model_no = get_u16(&channel->model_no);
				u16 serial_no = get_u16(&channel->serial_no);
				if ((errors & (watch_dog | watch_dog2)) ||
				    model_no == 0 || serial_no == 0) {
/*
 * Still no sensor, keep on polling. Since it takes up to 10 seconds
 * for offsets to stabilize, polling each second should suffice.
 */
					result = poll_delay_min_max(1000, 2000);
				} else {
					p->retries = 0;
					p->state =
					    state_jr3_init_wait_for_offset;
					result = poll_delay_min_max(1000, 2000);
				}
			}
			break;
		case state_jr3_init_wait_for_offset:{
				p->retries++;
				if (p->retries < 10) {
					/*  Wait for offeset to stabilize (< 10 s according to manual) */
					result = poll_delay_min_max(1000, 2000);
				} else {
					struct transform_t transf;

					p->model_no =
					    get_u16(&channel->model_no);
					p->serial_no =
					    get_u16(&channel->serial_no);

					printk
					    ("Setting transform for channel %d\n",
					     p->channel_no);
					printk("Sensor Model     = %i\n",
					       p->model_no);
					printk("Sensor Serial    = %i\n",
					       p->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(channel, transf, 0);
					use_transform(channel, 0);
					p->state =
					    state_jr3_init_transform_complete;
					result = poll_delay_min_max(20, 100);	/*  Allow 20 ms for completion */
				}
			} break;
		case state_jr3_init_transform_complete:{
				if (!is_complete(channel)) {
					printk
					    ("state_jr3_init_transform_complete complete = %d\n",
					     is_complete(channel));
					result = poll_delay_min_max(20, 100);
				} else {
					/*  Set full scale */
					struct six_axis_t min_full_scale;
					struct six_axis_t max_full_scale;

					min_full_scale =
					    get_min_full_scales(channel);
					printk("Obtained Min. Full Scales:\n");
					printk("%i   ", (min_full_scale).fx);
					printk("%i   ", (min_full_scale).fy);
					printk("%i   ", (min_full_scale).fz);
					printk("%i   ", (min_full_scale).mx);
					printk("%i   ", (min_full_scale).my);
					printk("%i   ", (min_full_scale).mz);
					printk("\n");

					max_full_scale =
					    get_max_full_scales(channel);
					printk("Obtained Max. Full Scales:\n");
					printk("%i   ", (max_full_scale).fx);
					printk("%i   ", (max_full_scale).fy);
					printk("%i   ", (max_full_scale).fz);
					printk("%i   ", (max_full_scale).mx);
					printk("%i   ", (max_full_scale).my);
					printk("%i   ", (max_full_scale).mz);
					printk("\n");

					set_full_scales(channel,
							max_full_scale);

					p->state =
					    state_jr3_init_set_full_scale_complete;
					result = poll_delay_min_max(20, 100);	/*  Allow 20 ms for completion */
				}
			}
			break;
		case state_jr3_init_set_full_scale_complete:{
				if (!is_complete(channel)) {
					printk
					    ("state_jr3_init_set_full_scale_complete complete = %d\n",
					     is_complete(channel));
					result = poll_delay_min_max(20, 100);
				} else {
					volatile struct force_array *full_scale;

					/*  Use ranges in kN or we will overflow arount 2000N! */
					full_scale = &channel->full_scale;
					p->range[0].range.min =
					    -get_s16(&full_scale->fx) * 1000;
					p->range[0].range.max =
					    get_s16(&full_scale->fx) * 1000;
					p->range[1].range.min =
					    -get_s16(&full_scale->fy) * 1000;
					p->range[1].range.max =
					    get_s16(&full_scale->fy) * 1000;
					p->range[2].range.min =
					    -get_s16(&full_scale->fz) * 1000;
					p->range[2].range.max =
					    get_s16(&full_scale->fz) * 1000;
					p->range[3].range.min =
					    -get_s16(&full_scale->mx) * 100;
					p->range[3].range.max =
					    get_s16(&full_scale->mx) * 100;
					p->range[4].range.min =
					    -get_s16(&full_scale->my) * 100;
					p->range[4].range.max =
					    get_s16(&full_scale->my) * 100;
					p->range[5].range.min =
					    -get_s16(&full_scale->mz) * 100;
					p->range[5].range.max =
					    get_s16(&full_scale->mz) * 100;
					p->range[6].range.min = -get_s16(&full_scale->v1) * 100;	/*  ?? */
					p->range[6].range.max = get_s16(&full_scale->v1) * 100;	/*  ?? */
					p->range[7].range.min = -get_s16(&full_scale->v2) * 100;	/*  ?? */
					p->range[7].range.max = get_s16(&full_scale->v2) * 100;	/*  ?? */
					p->range[8].range.min = 0;
					p->range[8].range.max = 65535;

					{
						int i;
						for (i = 0; i < 9; i++) {
							printk("%d %d - %d\n",
							       i,
							       p->
							       range[i].range.
							       min,
							       p->
							       range[i].range.
							       max);
						}
					}

					use_offset(channel, 0);
					p->state =
					    state_jr3_init_use_offset_complete;
					result = poll_delay_min_max(40, 100);	/*  Allow 40 ms for completion */
				}
			}
			break;
		case state_jr3_init_use_offset_complete:{
				if (!is_complete(channel)) {
					printk
					    ("state_jr3_init_use_offset_complete complete = %d\n",
					     is_complete(channel));
					result = poll_delay_min_max(20, 100);
				} else {
					printk
					    ("Default offsets %d %d %d %d %d %d\n",
					     get_s16(&channel->offsets.fx),
					     get_s16(&channel->offsets.fy),
					     get_s16(&channel->offsets.fz),
					     get_s16(&channel->offsets.mx),
					     get_s16(&channel->offsets.my),
					     get_s16(&channel->offsets.mz));

					set_s16(&channel->offsets.fx, 0);
					set_s16(&channel->offsets.fy, 0);
					set_s16(&channel->offsets.fz, 0);
					set_s16(&channel->offsets.mx, 0);
					set_s16(&channel->offsets.my, 0);
					set_s16(&channel->offsets.mz, 0);

					set_offset(channel);

					p->state = state_jr3_done;
				}
			}
			break;
		case state_jr3_done:{
				poll_delay_min_max(10000, 20000);
			}
			break;
		default:{
				poll_delay_min_max(1000, 2000);
			}
			break;
		}
	}
	return result;
}

static void jr3_pci_poll_dev(unsigned long data)
{
	unsigned long flags;
	struct comedi_device *dev = (struct comedi_device *)data;
	struct jr3_pci_dev_private *devpriv = dev->private;
	unsigned long now;
	int delay;
	int i;

	spin_lock_irqsave(&dev->spinlock, flags);
	delay = 1000;
	now = jiffies;
	/*  Poll all channels that are ready to be polled */
	for (i = 0; i < devpriv->n_channels; i++) {
		struct jr3_pci_subdev_private *subdevpriv =
		    dev->subdevices[i].private;
		if (now > subdevpriv->next_time_min) {
			struct poll_delay_t sub_delay;

			sub_delay = jr3_pci_poll_subdevice(&dev->subdevices[i]);
			subdevpriv->next_time_min =
			    jiffies + msecs_to_jiffies(sub_delay.min);
			subdevpriv->next_time_max =
			    jiffies + msecs_to_jiffies(sub_delay.max);
			if (sub_delay.max && sub_delay.max < delay) {
/*
* Wake up as late as possible -> poll as many channels as possible
* 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 int jr3_pci_attach(struct comedi_device *dev,
			  struct comedi_devconfig *it)
{
	int result = 0;
	struct pci_dev *card = NULL;
	int opt_bus, opt_slot, i;
	struct jr3_pci_dev_private *devpriv;

	printk("comedi%d: jr3_pci\n", dev->minor);

	opt_bus = it->options[0];
	opt_slot = it->options[1];

	if (sizeof(struct jr3_channel) != 0xc00) {
		printk("sizeof(struct jr3_channel) = %x [expected %x]\n",
		       (unsigned)sizeof(struct jr3_channel), 0xc00);
		return -EINVAL;
	}

	result = alloc_private(dev, sizeof(struct jr3_pci_dev_private));
	if (result < 0)
		return -ENOMEM;
	card = NULL;
	devpriv = dev->private;
	init_timer(&devpriv->timer);
	while (1) {
		card = pci_get_device(PCI_VENDOR_ID_JR3, PCI_ANY_ID, card);
		if (card == NULL) {
			/* No card found */
			break;
		} else {
			switch (card->device) {
			case PCI_DEVICE_ID_JR3_1_CHANNEL:{
					devpriv->n_channels = 1;
				}
				break;
			case PCI_DEVICE_ID_JR3_1_CHANNEL_NEW:{
					devpriv->n_channels = 1;
				}
				break;
			case PCI_DEVICE_ID_JR3_2_CHANNEL:{
					devpriv->n_channels = 2;
				}
				break;
			case PCI_DEVICE_ID_JR3_3_CHANNEL:{
					devpriv->n_channels = 3;
				}
				break;
			case PCI_DEVICE_ID_JR3_4_CHANNEL:{
					devpriv->n_channels = 4;
				}
				break;
			default:{
					devpriv->n_channels = 0;
				}
			}
			if (devpriv->n_channels >= 1) {
				if (opt_bus == 0 && opt_slot == 0) {
					/* Take first available card */
					break;
				} else if (opt_bus == card->bus->number &&
					   opt_slot == PCI_SLOT(card->devfn)) {
					/* Take requested card */
					break;
				}
			}
		}
	}
	if (!card) {
		printk(" no jr3_pci found\n");
		return -EIO;
	} else {
		devpriv->pci_dev = card;
		dev->board_name = "jr3_pci";
	}

	result = comedi_pci_enable(card, "jr3_pci");
	if (result < 0)
		return -EIO;

	devpriv->pci_enabled = 1;
	devpriv->iobase = ioremap(pci_resource_start(card, 0),
			offsetof(struct jr3_t, channel[devpriv->n_channels]));
	if (!devpriv->iobase)
		return -ENOMEM;

	result = alloc_subdevices(dev, devpriv->n_channels);
	if (result < 0)
		goto out;

	dev->open = jr3_pci_open;
	for (i = 0; i < devpriv->n_channels; i++) {
		dev->subdevices[i].type = COMEDI_SUBD_AI;
		dev->subdevices[i].subdev_flags = SDF_READABLE | SDF_GROUND;
		dev->subdevices[i].n_chan = 8 * 7 + 2;
		dev->subdevices[i].insn_read = jr3_pci_ai_insn_read;
		dev->subdevices[i].private =
		    kzalloc(sizeof(struct jr3_pci_subdev_private), GFP_KERNEL);
		if (dev->subdevices[i].private) {
			struct jr3_pci_subdev_private *p;
			int j;

			p = dev->subdevices[i].private;
			p->channel = &devpriv->iobase->channel[i].data;
			printk("p->channel %p %p (%tx)\n",
			       p->channel, devpriv->iobase,
			       ((char *)(p->channel) -
				(char *)(devpriv->iobase)));
			p->channel_no = i;
			for (j = 0; j < 8; j++) {
				int k;

				p->range[j].length = 1;
				p->range[j].range.min = -1000000;
				p->range[j].range.max = 1000000;
				for (k = 0; k < 7; k++) {
					p->range_table_list[j + k * 8] =
					    (struct comedi_lrange *)&p->
					    range[j];
					p->maxdata_list[j + k * 8] = 0x7fff;
				}
			}
			p->range[8].length = 1;
			p->range[8].range.min = 0;
			p->range[8].range.max = 65536;

			p->range_table_list[56] =
			    (struct comedi_lrange *)&p->range[8];
			p->range_table_list[57] =
			    (struct comedi_lrange *)&p->range[8];
			p->maxdata_list[56] = 0xffff;
			p->maxdata_list[57] = 0xffff;
			/*  Channel specific range and maxdata */
			dev->subdevices[i].range_table = 0;
			dev->subdevices[i].range_table_list =
			    p->range_table_list;
			dev->subdevices[i].maxdata = 0;
			dev->subdevices[i].maxdata_list = p->maxdata_list;
		}
	}

	/*  Reset DSP card */
	devpriv->iobase->channel[0].reset = 0;

	result = comedi_load_firmware(dev, "jr3pci.idm", jr3_download_firmware);
	printk("Firmare load %d\n", result);

	if (result < 0)
		goto out;
/*
 * TODO: use firmware to load preferred offset tables. Suggested
 * format:
 *     model serial Fx Fy Fz Mx My Mz\n
 *
 *     comedi_load_firmware(dev, "jr3_offsets_table", jr3_download_firmware);
 */

/*
 * It takes a few milliseconds for software to settle as much as we
 * can read firmware version
 */
	msleep_interruptible(25);
	for (i = 0; i < 0x18; i++) {
		printk("%c",
		       get_u16(&devpriv->iobase->channel[0].
			       data.copyright[i]) >> 8);
	}

	/*  Start card timer */
	for (i = 0; i < devpriv->n_channels; i++) {
		struct jr3_pci_subdev_private *p = dev->subdevices[i].private;

		p->next_time_min = jiffies + msecs_to_jiffies(500);
		p->next_time_max = jiffies + msecs_to_jiffies(2000);
	}

	devpriv->timer.data = (unsigned long)dev;
	devpriv->timer.function = jr3_pci_poll_dev;
	devpriv->timer.expires = jiffies + msecs_to_jiffies(1000);
	add_timer(&devpriv->timer);

out:
	return result;
}

MODULE_FIRMWARE("comedi/jr3pci.idm");

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

	printk("comedi%d: jr3_pci: remove\n", dev->minor);
	if (devpriv) {
		del_timer_sync(&devpriv->timer);

		if (dev->subdevices) {
			for (i = 0; i < devpriv->n_channels; i++)
				kfree(dev->subdevices[i].private);
		}

		if (devpriv->iobase)
			iounmap((void *)devpriv->iobase);
		if (devpriv->pci_enabled)
			comedi_pci_disable(devpriv->pci_dev);

		if (devpriv->pci_dev)
			pci_dev_put(devpriv->pci_dev);
	}
	return 0;
}

static int __devinit driver_jr3_pci_pci_probe(struct pci_dev *dev,
					      const struct pci_device_id *ent)
{
	return comedi_pci_auto_config(dev, driver_jr3_pci.driver_name);
}

static void __devexit driver_jr3_pci_pci_remove(struct pci_dev *dev)
{
	comedi_pci_auto_unconfig(dev);
}

static struct pci_driver driver_jr3_pci_pci_driver = {
	.id_table = jr3_pci_pci_table,
	.probe = &driver_jr3_pci_pci_probe,
	.remove = __devexit_p(&driver_jr3_pci_pci_remove)
};

static int __init driver_jr3_pci_init_module(void)
{
	int retval;

	retval = comedi_driver_register(&driver_jr3_pci);
	if (retval < 0)
		return retval;

	driver_jr3_pci_pci_driver.name = (char *)driver_jr3_pci.driver_name;
	return pci_register_driver(&driver_jr3_pci_pci_driver);
}

static void __exit driver_jr3_pci_cleanup_module(void)
{
	pci_unregister_driver(&driver_jr3_pci_pci_driver);
	comedi_driver_unregister(&driver_jr3_pci);
}

module_init(driver_jr3_pci_init_module);
module_exit(driver_jr3_pci_cleanup_module);

MODULE_AUTHOR("Comedi http://www.comedi.org");
MODULE_DESCRIPTION("Comedi low-level driver");
MODULE_LICENSE("GPL");