1/* 2 * Helper types to take care of the fact that the DSP card memory 3 * is 16 bits, but aligned on a 32 bit PCI boundary 4 */ 5 6static inline u16 get_u16(const u32 __iomem *p) 7{ 8 return (u16)readl(p); 9} 10 11static inline void set_u16(u32 __iomem *p, u16 val) 12{ 13 writel(val, p); 14} 15 16static inline s16 get_s16(const s32 __iomem *p) 17{ 18 return (s16)readl(p); 19} 20 21static inline void set_s16(s32 __iomem *p, s16 val) 22{ 23 writel(val, p); 24} 25 26/* 27 * The raw data is stored in a format which facilitates rapid 28 * processing by the JR3 DSP chip. The raw_channel structure shows the 29 * format for a single channel of data. Each channel takes four, 30 * two-byte words. 31 * 32 * Raw_time is an unsigned integer which shows the value of the JR3 33 * DSP's internal clock at the time the sample was received. The clock 34 * runs at 1/10 the JR3 DSP cycle time. JR3's slowest DSP runs at 10 35 * Mhz. At 10 Mhz raw_time would therefore clock at 1 Mhz. 36 * 37 * Raw_data is the raw data received directly from the sensor. The 38 * sensor data stream is capable of representing 16 different 39 * channels. Channel 0 shows the excitation voltage at the sensor. It 40 * is used to regulate the voltage over various cable lengths. 41 * Channels 1-6 contain the coupled force data Fx through Mz. Channel 42 * 7 contains the sensor's calibration data. The use of channels 8-15 43 * varies with different sensors. 44 */ 45 46struct raw_channel { 47 u32 raw_time; 48 s32 raw_data; 49 s32 reserved[2]; 50}; 51 52/* 53 * The force_array structure shows the layout for the decoupled and 54 * filtered force data. 55 */ 56struct force_array { 57 s32 fx; 58 s32 fy; 59 s32 fz; 60 s32 mx; 61 s32 my; 62 s32 mz; 63 s32 v1; 64 s32 v2; 65}; 66 67/* 68 * The six_axis_array structure shows the layout for the offsets and 69 * the full scales. 70 */ 71struct six_axis_array { 72 s32 fx; 73 s32 fy; 74 s32 fz; 75 s32 mx; 76 s32 my; 77 s32 mz; 78}; 79 80/* VECT_BITS */ 81/* 82 * The vect_bits structure shows the layout for indicating 83 * which axes to use in computing the vectors. Each bit signifies 84 * selection of a single axis. The V1x axis bit corresponds to a hex 85 * value of 0x0001 and the V2z bit corresponds to a hex value of 86 * 0x0020. Example: to specify the axes V1x, V1y, V2x, and V2z the 87 * pattern would be 0x002b. Vector 1 defaults to a force vector and 88 * vector 2 defaults to a moment vector. It is possible to change one 89 * or the other so that two force vectors or two moment vectors are 90 * calculated. Setting the changeV1 bit or the changeV2 bit will 91 * change that vector to be the opposite of its default. Therefore to 92 * have two force vectors, set changeV1 to 1. 93 */ 94 95/* vect_bits appears to be unused at this time */ 96enum { 97 fx = 0x0001, 98 fy = 0x0002, 99 fz = 0x0004, 100 mx = 0x0008, 101 my = 0x0010, 102 mz = 0x0020, 103 changeV2 = 0x0040, 104 changeV1 = 0x0080 105}; 106 107/* WARNING_BITS */ 108/* 109 * The warning_bits structure shows the bit pattern for the warning 110 * word. The bit fields are shown from bit 0 (lsb) to bit 15 (msb). 111 */ 112 113/* XX_NEAR_SET */ 114/* 115 * The xx_near_sat bits signify that the indicated axis has reached or 116 * exceeded the near saturation value. 117 */ 118 119enum { 120 fx_near_sat = 0x0001, 121 fy_near_sat = 0x0002, 122 fz_near_sat = 0x0004, 123 mx_near_sat = 0x0008, 124 my_near_sat = 0x0010, 125 mz_near_sat = 0x0020 126}; 127 128/* ERROR_BITS */ 129/* XX_SAT */ 130/* MEMORY_ERROR */ 131/* SENSOR_CHANGE */ 132 133/* 134 * The error_bits structure shows the bit pattern for the error word. 135 * The bit fields are shown from bit 0 (lsb) to bit 15 (msb). The 136 * xx_sat bits signify that the indicated axis has reached or exceeded 137 * the saturation value. The memory_error bit indicates that a problem 138 * was detected in the on-board RAM during the power-up 139 * initialization. The sensor_change bit indicates that a sensor other 140 * than the one originally plugged in has passed its CRC check. This 141 * bit latches, and must be reset by the user. 142 * 143 */ 144 145/* SYSTEM_BUSY */ 146 147/* 148 * The system_busy bit indicates that the JR3 DSP is currently busy 149 * and is not calculating force data. This occurs when a new 150 * coordinate transformation, or new sensor full scale is set by the 151 * user. A very fast system using the force data for feedback might 152 * become unstable during the approximately 4 ms needed to accomplish 153 * these calculations. This bit will also become active when a new 154 * sensor is plugged in and the system needs to recalculate the 155 * calibration CRC. 156 */ 157 158/* CAL_CRC_BAD */ 159 160/* 161 * The cal_crc_bad bit indicates that the calibration CRC has not 162 * calculated to zero. CRC is short for cyclic redundancy code. It is 163 * a method for determining the integrity of messages in data 164 * communication. The calibration data stored inside the sensor is 165 * transmitted to the JR3 DSP along with the sensor data. The 166 * calibration data has a CRC attached to the end of it, to assist in 167 * determining the completeness and integrity of the calibration data 168 * received from the sensor. There are two reasons the CRC may not 169 * have calculated to zero. The first is that all the calibration data 170 * has not yet been received, the second is that the calibration data 171 * has been corrupted. A typical sensor transmits the entire contents 172 * of its calibration matrix over 30 times a second. Therefore, if 173 * this bit is not zero within a couple of seconds after the sensor 174 * has been plugged in, there is a problem with the sensor's 175 * calibration data. 176 */ 177 178/* WATCH_DOG */ 179/* WATCH_DOG2 */ 180 181/* 182 * The watch_dog and watch_dog2 bits are sensor, not processor, watch 183 * dog bits. Watch_dog indicates that the sensor data line seems to be 184 * acting correctly, while watch_dog2 indicates that sensor data and 185 * clock are being received. It is possible for watch_dog2 to go off 186 * while watch_dog does not. This would indicate an improper clock 187 * signal, while data is acting correctly. If either watch dog barks, 188 * the sensor data is not being received correctly. 189 */ 190 191enum error_bits_t { 192 fx_sat = 0x0001, 193 fy_sat = 0x0002, 194 fz_sat = 0x0004, 195 mx_sat = 0x0008, 196 my_sat = 0x0010, 197 mz_sat = 0x0020, 198 memory_error = 0x0400, 199 sensor_change = 0x0800, 200 system_busy = 0x1000, 201 cal_crc_bad = 0x2000, 202 watch_dog2 = 0x4000, 203 watch_dog = 0x8000 204}; 205 206/* THRESH_STRUCT */ 207 208/* 209 * This structure shows the layout for a single threshold packet inside of a 210 * load envelope. Each load envelope can contain several threshold structures. 211 * 1. data_address contains the address of the data for that threshold. This 212 * includes filtered, unfiltered, raw, rate, counters, error and warning data 213 * 2. threshold is the is the value at which, if data is above or below, the 214 * bits will be set ... (pag.24). 215 * 3. bit_pattern contains the bits that will be set if the threshold value is 216 * met or exceeded. 217 */ 218 219struct thresh_struct { 220 s32 data_address; 221 s32 threshold; 222 s32 bit_pattern; 223}; 224 225/* LE_STRUCT */ 226 227/* 228 * Layout of a load enveloped packet. Four thresholds are showed ... for more 229 * see manual (pag.25) 230 * 1. latch_bits is a bit pattern that show which bits the user wants to latch. 231 * The latched bits will not be reset once the threshold which set them is 232 * no longer true. In that case the user must reset them using the reset_bit 233 * command. 234 * 2. number_of_xx_thresholds specify how many GE/LE threshold there are. 235 */ 236struct le_struct { 237 s32 latch_bits; 238 s32 number_of_ge_thresholds; 239 s32 number_of_le_thresholds; 240 struct thresh_struct thresholds[4]; 241 s32 reserved; 242}; 243 244/* LINK_TYPES */ 245/* 246 * Link types is an enumerated value showing the different possible transform 247 * link types. 248 * 0 - end transform packet 249 * 1 - translate along X axis (TX) 250 * 2 - translate along Y axis (TY) 251 * 3 - translate along Z axis (TZ) 252 * 4 - rotate about X axis (RX) 253 * 5 - rotate about Y axis (RY) 254 * 6 - rotate about Z axis (RZ) 255 * 7 - negate all axes (NEG) 256 */ 257 258enum link_types { 259 end_x_form, 260 tx, 261 ty, 262 tz, 263 rx, 264 ry, 265 rz, 266 neg 267}; 268 269/* TRANSFORM */ 270/* Structure used to describe a transform. */ 271struct intern_transform { 272 struct { 273 u32 link_type; 274 s32 link_amount; 275 } link[8]; 276}; 277 278/* 279 * JR3 force/torque sensor data definition. For more information see sensor 280 * and hardware manuals. 281 */ 282 283struct jr3_channel { 284 /* 285 * Raw_channels is the area used to store the raw data coming from 286 * the sensor. 287 */ 288 289 struct raw_channel raw_channels[16]; /* offset 0x0000 */ 290 291 /* 292 * Copyright is a null terminated ASCII string containing the JR3 293 * copyright notice. 294 */ 295 296 u32 copyright[0x0018]; /* offset 0x0040 */ 297 s32 reserved1[0x0008]; /* offset 0x0058 */ 298 299 /* 300 * Shunts contains the sensor shunt readings. Some JR3 sensors have 301 * the ability to have their gains adjusted. This allows the 302 * hardware full scales to be adjusted to potentially allow 303 * better resolution or dynamic range. For sensors that have 304 * this ability, the gain of each sensor channel is measured at 305 * the time of calibration using a shunt resistor. The shunt 306 * resistor is placed across one arm of the resistor bridge, and 307 * the resulting change in the output of that channel is 308 * measured. This measurement is called the shunt reading, and 309 * is recorded here. If the user has changed the gain of the // 310 * sensor, and made new shunt measurements, those shunt 311 * measurements can be placed here. The JR3 DSP will then scale 312 * the calibration matrix such so that the gains are again 313 * proper for the indicated shunt readings. If shunts is 0, then 314 * the sensor cannot have its gain changed. For details on 315 * changing the sensor gain, and making shunts readings, please 316 * see the sensor manual. To make these values take effect the 317 * user must call either command (5) use transform # (pg. 33) or 318 * command (10) set new full scales (pg. 38). 319 */ 320 321 struct six_axis_array shunts; /* offset 0x0060 */ 322 s32 reserved2[2]; /* offset 0x0066 */ 323 324 /* 325 * Default_FS contains the full scale that is used if the user does 326 * not set a full scale. 327 */ 328 329 struct six_axis_array default_FS; /* offset 0x0068 */ 330 s32 reserved3; /* offset 0x006e */ 331 332 /* 333 * Load_envelope_num is the load envelope number that is currently 334 * in use. This value is set by the user after one of the load 335 * envelopes has been initialized. 336 */ 337 338 s32 load_envelope_num; /* offset 0x006f */ 339 340 /* Min_full_scale is the recommend minimum full scale. */ 341 342 /* 343 * These values in conjunction with max_full_scale (pg. 9) helps 344 * determine the appropriate value for setting the full scales. The 345 * software allows the user to set the sensor full scale to an 346 * arbitrary value. But setting the full scales has some hazards. If 347 * the full scale is set too low, the data will saturate 348 * prematurely, and dynamic range will be lost. If the full scale is 349 * set too high, then resolution is lost as the data is shifted to 350 * the right and the least significant bits are lost. Therefore the 351 * maximum full scale is the maximum value at which no resolution is 352 * lost, and the minimum full scale is the value at which the data 353 * will not saturate prematurely. These values are calculated 354 * whenever a new coordinate transformation is calculated. It is 355 * possible for the recommended maximum to be less than the 356 * recommended minimum. This comes about primarily when using 357 * coordinate translations. If this is the case, it means that any 358 * full scale selection will be a compromise between dynamic range 359 * and resolution. It is usually recommended to compromise in favor 360 * of resolution which means that the recommend maximum full scale 361 * should be chosen. 362 * 363 * WARNING: Be sure that the full scale is no less than 0.4% of the 364 * recommended minimum full scale. Full scales below this value will 365 * cause erroneous results. 366 */ 367 368 struct six_axis_array min_full_scale; /* offset 0x0070 */ 369 s32 reserved4; /* offset 0x0076 */ 370 371 /* 372 * Transform_num is the transform number that is currently in use. 373 * This value is set by the JR3 DSP after the user has used command 374 * (5) use transform # (pg. 33). 375 */ 376 377 s32 transform_num; /* offset 0x0077 */ 378 379 /* 380 * Max_full_scale is the recommended maximum full scale. 381 * See min_full_scale (pg. 9) for more details. 382 */ 383 384 struct six_axis_array max_full_scale; /* offset 0x0078 */ 385 s32 reserved5; /* offset 0x007e */ 386 387 /* 388 * Peak_address is the address of the data which will be monitored 389 * by the peak routine. This value is set by the user. The peak 390 * routine will monitor any 8 contiguous addresses for peak values. 391 * (ex. to watch filter3 data for peaks, set this value to 0x00a8). 392 */ 393 394 s32 peak_address; /* offset 0x007f */ 395 396 /* 397 * Full_scale is the sensor full scales which are currently in use. 398 * Decoupled and filtered data is scaled so that +/- 16384 is equal 399 * to the full scales. The engineering units used are indicated by 400 * the units value discussed on page 16. The full scales for Fx, Fy, 401 * Fz, Mx, My and Mz can be written by the user prior to calling 402 * command (10) set new full scales (pg. 38). The full scales for V1 403 * and V2 are set whenever the full scales are changed or when the 404 * axes used to calculate the vectors are changed. The full scale of 405 * V1 and V2 will always be equal to the largest full scale of the 406 * axes used for each vector respectively. 407 */ 408 409 struct force_array full_scale; /* offset 0x0080 */ 410 411 /* 412 * Offsets contains the sensor offsets. These values are subtracted from 413 * the sensor data to obtain the decoupled data. The offsets are set a 414 * few seconds (< 10) after the calibration data has been received. 415 * They are set so that the output data will be zero. These values 416 * can be written as well as read. The JR3 DSP will use the values 417 * written here within 2 ms of being written. To set future 418 * decoupled data to zero, add these values to the current decoupled 419 * data values and place the sum here. The JR3 DSP will change these 420 * values when a new transform is applied. So if the offsets are 421 * such that FX is 5 and all other values are zero, after rotating 422 * about Z by 90 degrees, FY would be 5 and all others would be zero. 423 */ 424 425 struct six_axis_array offsets; /* offset 0x0088 */ 426 427 /* 428 * Offset_num is the number of the offset currently in use. This 429 * value is set by the JR3 DSP after the user has executed the use 430 * offset # command (pg. 34). It can vary between 0 and 15. 431 */ 432 433 s32 offset_num; /* offset 0x008e */ 434 435 /* 436 * Vect_axes is a bit map showing which of the axes are being used 437 * in the vector calculations. This value is set by the JR3 DSP 438 * after the user has executed the set vector axes command (pg. 37). 439 */ 440 441 u32 vect_axes; /* offset 0x008f */ 442 443 /* 444 * Filter0 is the decoupled, unfiltered data from the JR3 sensor. 445 * This data has had the offsets removed. 446 * 447 * These force_arrays hold the filtered data. The decoupled data is 448 * passed through cascaded low pass filters. Each succeeding filter 449 * has a cutoff frequency of 1/4 of the preceding filter. The cutoff 450 * frequency of filter1 is 1/16 of the sample rate from the sensor. 451 * For a typical sensor with a sample rate of 8 kHz, the cutoff 452 * frequency of filter1 would be 500 Hz. The following filters would 453 * cutoff at 125 Hz, 31.25 Hz, 7.813 Hz, 1.953 Hz and 0.4883 Hz. 454 */ 455 456 struct force_array filter[7]; /* 457 * offset 0x0090, 458 * offset 0x0098, 459 * offset 0x00a0, 460 * offset 0x00a8, 461 * offset 0x00b0, 462 * offset 0x00b8, 463 * offset 0x00c0 464 */ 465 466 /* 467 * Rate_data is the calculated rate data. It is a first derivative 468 * calculation. It is calculated at a frequency specified by the 469 * variable rate_divisor (pg. 12). The data on which the rate is 470 * calculated is specified by the variable rate_address (pg. 12). 471 */ 472 473 struct force_array rate_data; /* offset 0x00c8 */ 474 475 /* 476 * Minimum_data & maximum_data are the minimum and maximum (peak) 477 * data values. The JR3 DSP can monitor any 8 contiguous data items 478 * for minimums and maximums at full sensor bandwidth. This area is 479 * only updated at user request. This is done so that the user does 480 * not miss any peaks. To read the data, use either the read peaks 481 * command (pg. 40), or the read and reset peaks command (pg. 39). 482 * The address of the data to watch for peaks is stored in the 483 * variable peak_address (pg. 10). Peak data is lost when executing 484 * a coordinate transformation or a full scale change. Peak data is 485 * also lost when plugging in a new sensor. 486 */ 487 488 struct force_array minimum_data; /* offset 0x00d0 */ 489 struct force_array maximum_data; /* offset 0x00d8 */ 490 491 /* 492 * Near_sat_value & sat_value contain the value used to determine if 493 * the raw sensor is saturated. Because of decoupling and offset 494 * removal, it is difficult to tell from the processed data if the 495 * sensor is saturated. These values, in conjunction with the error 496 * and warning words (pg. 14), provide this critical information. 497 * These two values may be set by the host processor. These values 498 * are positive signed values, since the saturation logic uses the 499 * absolute values of the raw data. The near_sat_value defaults to 500 * approximately 80% of the ADC's full scale, which is 26214, while 501 * sat_value defaults to the ADC's full scale: 502 * 503 * sat_value = 32768 - 2^(16 - ADC bits) 504 */ 505 506 s32 near_sat_value; /* offset 0x00e0 */ 507 s32 sat_value; /* offset 0x00e1 */ 508 509 /* 510 * Rate_address, rate_divisor & rate_count contain the data used to 511 * control the calculations of the rates. Rate_address is the 512 * address of the data used for the rate calculation. The JR3 DSP 513 * will calculate rates for any 8 contiguous values (ex. to 514 * calculate rates for filter3 data set rate_address to 0x00a8). 515 * Rate_divisor is how often the rate is calculated. If rate_divisor 516 * is 1, the rates are calculated at full sensor bandwidth. If 517 * rate_divisor is 200, rates are calculated every 200 samples. 518 * Rate_divisor can be any value between 1 and 65536. Set 519 * rate_divisor to 0 to calculate rates every 65536 samples. 520 * Rate_count starts at zero and counts until it equals 521 * rate_divisor, at which point the rates are calculated, and 522 * rate_count is reset to 0. When setting a new rate divisor, it is 523 * a good idea to set rate_count to one less than rate divisor. This 524 * will minimize the time necessary to start the rate calculations. 525 */ 526 527 s32 rate_address; /* offset 0x00e2 */ 528 u32 rate_divisor; /* offset 0x00e3 */ 529 u32 rate_count; /* offset 0x00e4 */ 530 531 /* 532 * Command_word2 through command_word0 are the locations used to 533 * send commands to the JR3 DSP. Their usage varies with the command 534 * and is detailed later in the Command Definitions section (pg. 535 * 29). In general the user places values into various memory 536 * locations, and then places the command word into command_word0. 537 * The JR3 DSP will process the command and place a 0 into 538 * command_word0 to indicate successful completion. Alternatively 539 * the JR3 DSP will place a negative number into command_word0 to 540 * indicate an error condition. Please note the command locations 541 * are numbered backwards. (I.E. command_word2 comes before 542 * command_word1). 543 */ 544 545 s32 command_word2; /* offset 0x00e5 */ 546 s32 command_word1; /* offset 0x00e6 */ 547 s32 command_word0; /* offset 0x00e7 */ 548 549 /* 550 * Count1 through count6 are unsigned counters which are incremented 551 * every time the matching filters are calculated. Filter1 is 552 * calculated at the sensor data bandwidth. So this counter would 553 * increment at 8 kHz for a typical sensor. The rest of the counters 554 * are incremented at 1/4 the interval of the counter immediately 555 * preceding it, so they would count at 2 kHz, 500 Hz, 125 Hz etc. 556 * These counters can be used to wait for data. Each time the 557 * counter changes, the corresponding data set can be sampled, and 558 * this will insure that the user gets each sample, once, and only 559 * once. 560 */ 561 562 u32 count1; /* offset 0x00e8 */ 563 u32 count2; /* offset 0x00e9 */ 564 u32 count3; /* offset 0x00ea */ 565 u32 count4; /* offset 0x00eb */ 566 u32 count5; /* offset 0x00ec */ 567 u32 count6; /* offset 0x00ed */ 568 569 /* 570 * Error_count is a running count of data reception errors. If this 571 * counter is changing rapidly, it probably indicates a bad sensor 572 * cable connection or other hardware problem. In most installations 573 * error_count should not change at all. But it is possible in an 574 * extremely noisy environment to experience occasional errors even 575 * without a hardware problem. If the sensor is well grounded, this 576 * is probably unavoidable in these environments. On the occasions 577 * where this counter counts a bad sample, that sample is ignored. 578 */ 579 580 u32 error_count; /* offset 0x00ee */ 581 582 /* 583 * Count_x is a counter which is incremented every time the JR3 DSP 584 * searches its job queues and finds nothing to do. It indicates the 585 * amount of idle time the JR3 DSP has available. It can also be 586 * used to determine if the JR3 DSP is alive. See the Performance 587 * Issues section on pg. 49 for more details. 588 */ 589 590 u32 count_x; /* offset 0x00ef */ 591 592 /* 593 * Warnings & errors contain the warning and error bits 594 * respectively. The format of these two words is discussed on page 595 * 21 under the headings warnings_bits and error_bits. 596 */ 597 598 u32 warnings; /* offset 0x00f0 */ 599 u32 errors; /* offset 0x00f1 */ 600 601 /* 602 * Threshold_bits is a word containing the bits that are set by the 603 * load envelopes. See load_envelopes (pg. 17) and thresh_struct 604 * (pg. 23) for more details. 605 */ 606 607 s32 threshold_bits; /* offset 0x00f2 */ 608 609 /* 610 * Last_crc is the value that shows the actual calculated CRC. CRC 611 * is short for cyclic redundancy code. It should be zero. See the 612 * description for cal_crc_bad (pg. 21) for more information. 613 */ 614 615 s32 last_CRC; /* offset 0x00f3 */ 616 617 /* 618 * EEProm_ver_no contains the version number of the sensor EEProm. 619 * EEProm version numbers can vary between 0 and 255. 620 * Software_ver_no contains the software version number. Version 621 * 3.02 would be stored as 302. 622 */ 623 624 s32 eeprom_ver_no; /* offset 0x00f4 */ 625 s32 software_ver_no; /* offset 0x00f5 */ 626 627 /* 628 * Software_day & software_year are the release date of the software 629 * the JR3 DSP is currently running. Day is the day of the year, 630 * with January 1 being 1, and December 31, being 365 for non leap 631 * years. 632 */ 633 634 s32 software_day; /* offset 0x00f6 */ 635 s32 software_year; /* offset 0x00f7 */ 636 637 /* 638 * Serial_no & model_no are the two values which uniquely identify a 639 * sensor. This model number does not directly correspond to the JR3 640 * model number, but it will provide a unique identifier for 641 * different sensor configurations. 642 */ 643 644 u32 serial_no; /* offset 0x00f8 */ 645 u32 model_no; /* offset 0x00f9 */ 646 647 /* 648 * Cal_day & cal_year are the sensor calibration date. Day is the 649 * day of the year, with January 1 being 1, and December 31, being 650 * 366 for leap years. 651 */ 652 653 s32 cal_day; /* offset 0x00fa */ 654 s32 cal_year; /* offset 0x00fb */ 655 656 /* 657 * Units is an enumerated read only value defining the engineering 658 * units used in the sensor full scale. The meanings of particular 659 * values are discussed in the section detailing the force_units 660 * structure on page 22. The engineering units are setto customer 661 * specifications during sensor manufacture and cannot be changed by 662 * writing to Units. 663 * 664 * Bits contains the number of bits of resolution of the ADC 665 * currently in use. 666 * 667 * Channels is a bit field showing which channels the current sensor 668 * is capable of sending. If bit 0 is active, this sensor can send 669 * channel 0, if bit 13 is active, this sensor can send channel 13, 670 * etc. This bit can be active, even if the sensor is not currently 671 * sending this channel. Some sensors are configurable as to which 672 * channels to send, and this field only contains information on the 673 * channels available to send, not on the current configuration. To 674 * find which channels are currently being sent, monitor the 675 * Raw_time fields (pg. 19) in the raw_channels array (pg. 7). If 676 * the time is changing periodically, then that channel is being 677 * received. 678 */ 679 680 u32 units; /* offset 0x00fc */ 681 s32 bits; /* offset 0x00fd */ 682 s32 channels; /* offset 0x00fe */ 683 684 /* 685 * Thickness specifies the overall thickness of the sensor from 686 * flange to flange. The engineering units for this value are 687 * contained in units (pg. 16). The sensor calibration is relative 688 * to the center of the sensor. This value allows easy coordinate 689 * transformation from the center of the sensor to either flange. 690 */ 691 692 s32 thickness; /* offset 0x00ff */ 693 694 /* 695 * Load_envelopes is a table containing the load envelope 696 * descriptions. There are 16 possible load envelope slots in the 697 * table. The slots are on 16 word boundaries and are numbered 0-15. 698 * Each load envelope needs to start at the beginning of a slot but 699 * need not be fully contained in that slot. That is to say that a 700 * single load envelope can be larger than a single slot. The 701 * software has been tested and ran satisfactorily with 50 702 * thresholds active. A single load envelope this large would take 703 * up 5 of the 16 slots. The load envelope data is laid out in an 704 * order that is most efficient for the JR3 DSP. The structure is 705 * detailed later in the section showing the definition of the 706 * le_struct structure (pg. 23). 707 */ 708 709 struct le_struct load_envelopes[0x10]; /* offset 0x0100 */ 710 711 /* 712 * Transforms is a table containing the transform descriptions. 713 * There are 16 possible transform slots in the table. The slots are 714 * on 16 word boundaries and are numbered 0-15. Each transform needs 715 * to start at the beginning of a slot but need not be fully 716 * contained in that slot. That is to say that a single transform 717 * can be larger than a single slot. A transform is 2 * no of links 718 * + 1 words in length. So a single slot can contain a transform 719 * with 7 links. Two slots can contain a transform that is 15 links. 720 * The layout is detailed later in the section showing the 721 * definition of the transform structure (pg. 26). 722 */ 723 724 struct intern_transform transforms[0x10]; /* offset 0x0200 */ 725}; 726 727struct jr3_t { 728 struct { 729 u32 program_lo[0x4000]; /* 0x00000 - 0x10000 */ 730 struct jr3_channel data; /* 0x10000 - 0x10c00 */ 731 char pad2[0x30000 - 0x00c00]; /* 0x10c00 - 0x40000 */ 732 u32 program_hi[0x8000]; /* 0x40000 - 0x60000 */ 733 u32 reset; /* 0x60000 - 0x60004 */ 734 char pad3[0x20000 - 0x00004]; /* 0x60004 - 0x80000 */ 735 } channel[4]; 736}; 737