-/* Helper types to take care of the fact that the DSP card memory
+/*
+ * Helper types to take care of the fact that the DSP card memory
* is 16 bits, but aligned on a 32 bit PCI boundary
*/
writel(val, p);
}
-/* The raw data is stored in a format which facilitates rapid
+/*
+ * 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.
s32 reserved[2];
};
-/* The force_array structure shows the layout for the decoupled and
+/*
+ * The force_array structure shows the layout for the decoupled and
* filtered force data.
*/
struct force_array {
s32 v2;
};
-/* The six_axis_array structure shows the layout for the offsets and
+/*
+ * The six_axis_array structure shows the layout for the offsets and
* the full scales.
*/
struct six_axis_array {
};
/* VECT_BITS */
-/* The vect_bits structure shows the layout for indicating
+/*
+ * 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
};
/* WARNING_BITS */
-/* The warning_bits structure shows the bit pattern for the warning
+/*
+ * 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).
*/
-/* XX_NEAR_SET */
-/* The xx_near_sat bits signify that the indicated axis has reached or
+/* XX_NEAR_SET */
+/*
+ * The xx_near_sat bits signify that the indicated axis has reached or
* exceeded the near saturation value.
*/
mz_near_sat = 0x0020
};
-/* ERROR_BITS */
-/* XX_SAT */
-/* MEMORY_ERROR */
-/* SENSOR_CHANGE */
+/* ERROR_BITS */
+/* XX_SAT */
+/* MEMORY_ERROR */
+/* SENSOR_CHANGE */
-/* The error_bits structure shows the bit pattern for the error word.
+/*
+ * 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
*
*/
-/* SYSTEM_BUSY */
+/* SYSTEM_BUSY */
-/* The system_busy bit indicates that the JR3 DSP is currently busy
+/*
+ * 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
* calibration CRC.
*/
-/* CAL_CRC_BAD */
+/* CAL_CRC_BAD */
-/* The cal_crc_bad bit indicates that the calibration CRC has not
+/*
+ * 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
/* WATCH_DOG */
/* WATCH_DOG2 */
-/* The watch_dog and watch_dog2 bits are sensor, not processor, watch
+/*
+ * 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
watch_dog = 0x8000
};
-/* THRESH_STRUCT */
+/* THRESH_STRUCT */
-/* This structure shows the layout for a single threshold packet inside of a
+/*
+ * 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
s32 bit_pattern;
};
-/* LE_STRUCT */
+/* LE_STRUCT */
-/* Layout of a load enveloped packet. Four thresholds are showed ... for more
+/*
+ * 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
s32 reserved;
};
-/* LINK_TYPES */
-/* Link types is an enumerated value showing the different possible transform
+/* LINK_TYPES */
+/*
+ * Link types is an enumerated value showing the different possible transform
* link types.
* 0 - end transform packet
* 1 - translate along X axis (TX)
neg
};
-/* TRANSFORM */
-/* Structure used to describe a transform. */
+/* TRANSFORM */
+/* Structure used to describe a transform. */
struct intern_transform {
struct {
u32 link_type;
} link[8];
};
-/* JR3 force/torque sensor data definition. For more information see sensor
- * and hardware manuals.
+/*
+ * 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. */
+ /*
+ * 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. */
+ /*
+ * 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
+ /*
+ * 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
* command (10) set new full scales (pg. 38).
*/
- struct six_axis_array shunts; /* offset 0x0060 */
- s32 reserved2[2]; /* offset 0x0066 */
+ 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. */
+ /*
+ * 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 */
+ s32 reserved3; /* offset 0x006e */
- /* Load_envelope_num is the load envelope number that is currently
+ /*
+ * 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 */
+ 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
+ /*
+ * 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
*/
struct six_axis_array min_full_scale; /* offset 0x0070 */
- s32 reserved4; /* offset 0x0076 */
+ s32 reserved4; /* offset 0x0076 */
- /* Transform_num is the transform number that is currently in use.
+ /*
+ * 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 */
+ s32 transform_num; /* offset 0x0077 */
- /* Max_full_scale is the recommended maximum full scale. See */
- /* min_full_scale (pg. 9) for more details. */
+ /*
+ * 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 */
+ s32 reserved5; /* offset 0x007e */
- /* Peak_address is the address of the data which will be monitored
+ /*
+ * 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 */
+ s32 peak_address; /* offset 0x007f */
- /* Full_scale is the sensor full scales which are currently in use.
+ /*
+ * 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,
* axes used for each vector respectively.
*/
- struct force_array full_scale; /* offset 0x0080 */
+ struct force_array full_scale; /* offset 0x0080 */
- /* Offsets contains the sensor offsets. These values are subtracted from
+ /*
+ * 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
* about Z by 90 degrees, FY would be 5 and all others would be zero.
*/
- struct six_axis_array offsets; /* offset 0x0088 */
+ struct six_axis_array offsets; /* offset 0x0088 */
- /* Offset_num is the number of the offset currently in use. This
+ /*
+ * 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 */
+ s32 offset_num; /* offset 0x008e */
- /* Vect_axes is a bit map showing which of the axes are being used
+ /*
+ * 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 */
+ u32 vect_axes; /* offset 0x008f */
- /* Filter0 is the decoupled, unfiltered data from the JR3 sensor.
+ /*
+ * 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
* 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
+ 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 */
+ struct force_array rate_data; /* offset 0x00c8 */
- /* Minimum_data & maximum_data are the minimum and maximum (peak)
+ /*
+ * 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
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
+ /*
+ * 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
* sat_value = 32768 - 2^(16 - ADC bits)
*/
- s32 near_sat_value; /* offset 0x00e0 */
- s32 sat_value; /* offset 0x00e1 */
+ s32 near_sat_value; /* offset 0x00e0 */
+ s32 sat_value; /* offset 0x00e1 */
- /* Rate_address, rate_divisor & rate_count contain the data used to
+ /*
+ * 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
* 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 */
+ 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
+ /*
+ * 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
* command_word1).
*/
- s32 command_word2; /* offset 0x00e5 */
- s32 command_word1; /* offset 0x00e6 */
- s32 command_word0; /* offset 0x00e7 */
+ s32 command_word2; /* offset 0x00e5 */
+ s32 command_word1; /* offset 0x00e6 */
+ s32 command_word0; /* offset 0x00e7 */
- /* Count1 through count6 are unsigned counters which are incremented
+ /*
+ * 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
* 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 */
+ 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
+ /*
+ * 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
* where this counter counts a bad sample, that sample is ignored.
*/
- u32 error_count; /* offset 0x00ee */
+ u32 error_count; /* offset 0x00ee */
- /* Count_x is a counter which is incremented every time the JR3 DSP
+ /*
+ * 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 */
+ u32 count_x; /* offset 0x00ef */
- /* Warnings & errors contain the warning and error bits
+ /*
+ * 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 */
+ u32 warnings; /* offset 0x00f0 */
+ u32 errors; /* offset 0x00f1 */
- /* Threshold_bits is a word containing the bits that are set by the
+ /*
+ * 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 */
+ s32 threshold_bits; /* offset 0x00f2 */
- /* Last_crc is the value that shows the actual calculated CRC. CRC
+ /*
+ * 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 */
+ s32 last_CRC; /* offset 0x00f3 */
- /* EEProm_ver_no contains the version number of the sensor EEProm.
+ /*
+ * 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 */
+ s32 eeprom_ver_no; /* offset 0x00f4 */
+ s32 software_ver_no; /* offset 0x00f5 */
- /* Software_day & software_year are the release date of the software
+ /*
+ * 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 */
+ s32 software_day; /* offset 0x00f6 */
+ s32 software_year; /* offset 0x00f7 */
- /* Serial_no & model_no are the two values which uniquely identify a
+ /*
+ * 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 */
+ u32 serial_no; /* offset 0x00f8 */
+ u32 model_no; /* offset 0x00f9 */
- /* Cal_day & cal_year are the sensor calibration date. Day is the
+ /*
+ * 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 */
+ s32 cal_day; /* offset 0x00fa */
+ s32 cal_year; /* offset 0x00fb */
- /* Units is an enumerated read only value defining the engineering
+ /*
+ * 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
* received.
*/
- u32 units; /* offset 0x00fc */
- s32 bits; /* offset 0x00fd */
- s32 channels; /* offset 0x00fe */
+ u32 units; /* offset 0x00fc */
+ s32 bits; /* offset 0x00fd */
+ s32 channels; /* offset 0x00fe */
- /* Thickness specifies the overall thickness of the sensor from
+ /*
+ * 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 */
+ s32 thickness; /* offset 0x00ff */
- /* Load_envelopes is a table containing the load envelope
+ /*
+ * 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
struct le_struct load_envelopes[0x10]; /* offset 0x0100 */
- /* Transforms is a table containing the transform descriptions.
+ /*
+ * 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
projects / deliverable / linux.git / blobdiff