comedi/drivers/jr3_pci.h

1 /* SPDX-License-Identifier: GPL-2.0 */
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
40  * channels. Channel 0 shows the excitation voltage at the sensor. It
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
139  * was detected in the on-board RAM during the power-up
140  * initialization. The sensor_change bit indicates that a sensor other
151  * coordinate transformation, or new sensor full scale is set by the
155  * sensor is plugged in and the system needs to recalculate the
165  * communication. The calibration data stored inside the sensor is
166  * transmitted to the JR3 DSP along with the sensor data. The
169  * received from the sensor. There are two reasons the CRC may not
172  * has been corrupted. A typical sensor transmits the entire contents
174  * this bit is not zero within a couple of seconds after the sensor
175  * has been plugged in, there is a problem with the sensor's
183  * The watch_dog and watch_dog2 bits are sensor, not processor, watch
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
189  * the sensor data is not being received correctly.
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
287 	 * the sensor.
301 	 * Shunts contains the sensor shunt readings. Some JR3 sensors have
305 	 * this ability, the gain of each sensor channel is measured at
308 	 * the resulting change in the output of that channel is
311 	 * sensor, and made new shunt measurements, those shunt
315 	 * the sensor cannot have its gain changed. For details on
316 	 * changing the sensor gain, and making shunts readings, please
317 	 * see the sensor manual. To make these values take effect the
346 	 * software allows the user to set the sensor full scale to an
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
413 	 * Offsets contains the sensor offsets. These values are subtracted from
414 	 * the sensor data to obtain the decoupled data. The offsets are set a
445 	 * Filter0 is the decoupled, unfiltered data from the JR3 sensor.
451 	 * frequency of filter1 is 1/16 of the sample rate from the sensor.
452 	 * For a typical sensor with a sample rate of 8 kHz, the cutoff
479 	 * for minimums and maximums at full sensor bandwidth. This area is
486 	 * also lost when plugging in a new sensor.
494 	 * the raw sensor is saturated. Because of decoupling and offset
496 	 * sensor is saturated. These values, in conjunction with the error
504 	 *   sat_value = 32768 - 2^(16 - ADC bits)
517 	 * is 1, the rates are calculated at full sensor bandwidth. If
553 	 * calculated at the sensor data bandwidth. So this counter would
554 	 * increment at 8 kHz for a typical sensor. The rest of the counters
572 	 * counter is changing rapidly, it probably indicates a bad sensor
576 	 * without a hardware problem. If the sensor is well grounded, this
619 	 * EEProm_ver_no contains the version number of the sensor EEProm.
640 	 * sensor. This model number does not directly correspond to the JR3
642 	 * different sensor configurations.
649 	 * Cal_day & cal_year are the sensor calibration date. Day is the
659 	 * units used in the sensor full scale. The meanings of particular
662 	 * specifications during sensor manufacture and cannot be changed by
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
672 	 * sending this channel. Some sensors are configurable as to which
677 	 * the time is changing periodically, then that channel is being
686 	 * Thickness specifies the overall thickness of the sensor from
688 	 * contained in units (pg. 16). The sensor calibration is relative
689 	 * to the center of the sensor. This value allows easy coordinate
690 	 * transformation from the center of the sensor to either flange.
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 */  member
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 */