comedi/drivers/jr3_pci.h

1 /* SPDX-License-Identifier: GPL-2.0 */
28  * The raw data is stored in a format which facilitates rapid
30  * format for a single channel of data. Each channel takes four,
31  * two-byte words.
38  * Raw_data is the raw data received directly from the sensor. The
39  * sensor data stream is capable of representing 16 different
42  * Channels 1-6 contain the coupled force data Fx through Mz. Channel
43  * 7 contains the sensor's calibration data. The use of channels 8-15
55  * filtered force data.
139  * was detected in the on-board RAM during the power-up
150  * and is not calculating force data. This occurs when a new
152  * user. A very fast system using the force data for feedback might
156  * calibration CRC.
162  * The cal_crc_bad bit indicates that the calibration CRC has not
164  * a method for determining the integrity of messages in data
165  * communication. The calibration data stored inside the sensor is
166  * transmitted to the JR3 DSP along with the sensor data. The
167  * calibration data has a CRC attached to the end of it, to assist in
168  * determining the completeness and integrity of the calibration data
170  * have calculated to zero. The first is that all the calibration data
171  * has not yet been received, the second is that the calibration data
173  * of its calibration matrix over 30 times a second. Therefore, if
176  * calibration data.
184  * dog bits. Watch_dog indicates that the sensor data line seems to be
185  * acting correctly, while watch_dog2 indicates that sensor data and
188  * signal, while data is acting correctly. If either watch dog barks,
189  * the sensor data is not being received correctly.
212  * 1. data_address contains the address of the data for that threshold. This
213  *    includes filtered, unfiltered, raw, rate, counters, error and warning data
214  * 2. threshold is the is the value at which, if data is above or below, the
249  * 0 - end transform packet
250  * 1 - translate along X axis (TX)
251  * 2 - translate along Y axis (TY)
252  * 3 - translate along Z axis (TZ)
253  * 4 - rotate about X axis (RX)
254  * 5 - rotate about Y axis (RY)
255  * 6 - rotate about Z axis (RZ)
256  * 7 - negate all axes (NEG)
280  * JR3 force/torque sensor data definition. For more information see sensor
286 	 * Raw_channels is the area used to store the raw data coming from
306 	 * the time of calibration using a shunt resistor. The shunt
313 	 * the calibration matrix such so that the gains are again
348 	 * the full scale is set too low, the data will saturate
350 	 * set too high, then resolution is lost as the data is shifted to
353 	 * lost, and the minimum full scale is the value at which the data
389 	 * Peak_address is the address of the data which will be monitored
392 	 * (ex. to watch filter3 data for peaks, set this value to 0x00a8).
399 	 * Decoupled and filtered data is scaled so that +/- 16384 is equal
414 	 * the sensor data to obtain the decoupled data. The offsets are set a
415 	 * few seconds (< 10) after the calibration data has been received.
416 	 * They are set so that the output data will be zero. These values
419 	 * decoupled data to zero, add these values to the current decoupled
420 	 * data values and place the sum here. The JR3 DSP will change these
445 	 * Filter0 is the decoupled, unfiltered data from the JR3 sensor.
446 	 * This data has had the offsets removed.
448 	 * These force_arrays hold the filtered data. The decoupled data is
468 	 * Rate_data is the calculated rate data. It is a first derivative
470 	 * variable rate_divisor (pg. 12). The data on which the rate is
478 	 * data values. The JR3 DSP can monitor any 8 contiguous data items
481 	 * not miss any peaks. To read the data, use either the read peaks
483 	 * The address of the data to watch for peaks is stored in the
484 	 * variable peak_address (pg. 10). Peak data is lost when executing
485 	 * a coordinate transformation or a full scale change. Peak data is
495 	 * removal, it is difficult to tell from the processed data if the
500 	 * absolute values of the raw data. The near_sat_value defaults to
504 	 *   sat_value = 32768 - 2^(16 - ADC bits)
511 	 * Rate_address, rate_divisor & rate_count contain the data used to
513 	 * address of the data used for the rate calculation. The JR3 DSP
515 	 * calculate rates for filter3 data set rate_address to 0x00a8).
553 	 * calculated at the sensor data bandwidth. So this counter would
557 	 * These counters can be used to wait for data. Each time the
558 	 * counter changes, the corresponding data set can be sampled, and
571 	 * Error_count is a running count of data reception errors. If this
649 	 * Cal_day & cal_year are the sensor calibration date. Day is the
688 	 * contained in units (pg. 16). The sensor calibration is relative
698 	 * table. The slots are on 16 word boundaries and are numbered 0-15.
704 	 * up 5 of the 16 slots. The load envelope data is laid out in an
715 	 * on 16 word boundaries and are numbered 0-15. Each transform needs
729 	u32 program_lo[0x4000];		/*  0x00000 - 0x10000 */
730 	struct jr3_sensor sensor;	/*  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 */