blob: 356811defaf464b12833e09392fdc836398a9c04 [file] [log] [blame]
/* 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;
/* 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
/* 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).
/* 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
/* XX_SAT */
/* 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.
/* 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.
/* 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_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
/* 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;
/* 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 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 {
/* 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_channel {
/* 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_t {
struct {
u32 program_lo[0x4000]; /* 0x00000 - 0x10000 */
struct jr3_channel data; /* 0x10000 - 0x10c00 */
char pad2[0x30000 - 0x00c00]; /* 0x10c00 - 0x40000 */
u32 program_hi[0x8000]; /* 0x40000 - 0x60000 */
u32 reset; /* 0x60000 - 0x60004 */
char pad3[0x20000 - 0x00004]; /* 0x60004 - 0x80000 */
} channel[4];