comedi/drivers/jr3_pci.h

1 /* SPDX-License-Identifier: GPL-2.0 */
4  * is 16 bits, but aligned on a 32 bit PCI boundary
31  * two-byte words.
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
70  * the full scales.
84  * which axes to use in computing the vectors. Each bit signifies
85  * selection of a single axis. The V1x axis bit corresponds to a hex
86  * value of 0x0001 and the V2z bit corresponds to a hex value of
91  * calculated. Setting the changeV1 bit or the changeV2 bit will
110  * The warning_bits structure shows the bit pattern for the warning
111  * word. The bit fields are shown from bit 0 (lsb) to bit 15 (msb).
135  * The error_bits structure shows the bit pattern for the error word.
136  * The bit fields are shown from bit 0 (lsb) to bit 15 (msb). The
138  * the saturation value. The memory_error bit indicates that a problem
139  * was detected in the on-board RAM during the power-up
140  * initialization. The sensor_change bit indicates that a sensor other
142  * bit latches, and must be reset by the user.
149  * The system_busy bit indicates that the JR3 DSP is currently busy
151  * coordinate transformation, or new sensor full scale is set by the
154  * these calculations. This bit will also become active when a new
162  * The cal_crc_bad bit indicates that the calibration CRC has not
174  * this bit is not zero within a couple of seconds after the sensor
231  * 1. latch_bits is a bit pattern that show which bits the user wants to latch.
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)
303 	 * hardware full scales to be adjusted to potentially allow
319 	 * command (10) set new full scales (pg. 38).
326 	 * Default_FS contains the full scale that is used if the user does
327 	 * not set a full scale.
341 	/* Min_full_scale is the recommend minimum full scale. */
345 	 * determine the appropriate value for setting the full scales. The
346 	 * software allows the user to set the sensor full scale to an
347 	 * arbitrary value. But setting the full scales has some hazards. If
348 	 * the full scale is set too low, the data will saturate
349 	 * prematurely, and dynamic range will be lost. If the full scale is
352 	 * maximum full scale is the maximum value at which no resolution is
353 	 * lost, and the minimum full scale is the value at which the data
359 	 * full scale selection will be a compromise between dynamic range
361 	 * of resolution which means that the recommend maximum full scale
364 	 * WARNING: Be sure that the full scale is no less than 0.4% of the
365 	 * recommended minimum full scale. Full scales below this value will
381 	 * Max_full_scale is the recommended maximum full scale.
398 	 * Full_scale is the sensor full scales which are currently in use.
399 	 * Decoupled and filtered data is scaled so that +/- 16384 is equal
400 	 * to the full scales. The engineering units used are indicated by
401 	 * the units value discussed on page 16. The full scales for Fx, Fy,
403 	 * command (10) set new full scales (pg. 38). The full scales for V1
404 	 * and V2 are set whenever the full scales are changed or when the
405 	 * axes used to calculate the vectors are changed. The full scale of
406 	 * V1 and V2 will always be equal to the largest full scale of the
437 	 * Vect_axes is a bit map showing which of the axes are being used
479 	 * for minimums and maximums at full sensor bandwidth. This area is
485 	 * a coordinate transformation or a full scale change. Peak data is
501 	 * approximately 80% of the ADC's full scale, which is 26214, while
502 	 * sat_value defaults to the ADC's full scale:
504 	 *   sat_value = 32768 - 2^(16 - ADC bits)
517 	 * is 1, the rates are calculated at full sensor bandwidth. If
659 	 * units used in the sensor full scale. The meanings of particular
668 	 * Channels is a bit field showing which channels the current sensor
669 	 * is capable of sending. If bit 0 is active, this sensor can send
670 	 * channel 0, if bit 13 is active, this sensor can send channel 13,
671 	 * etc. This bit can be active, even if the sensor is not currently
698 	 * table. The slots are on 16 word boundaries and are numbered 0-15.
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 */