1 /* SPDX-License-Identifier: GPL-2.0 */
2 /*
3 * Helper types to take care of the fact that the DSP card memory
4 * is 16 bits, but aligned on a 32 bit PCI boundary
5 */
6
7 static inline u16 get_u16(const u32 __iomem *p)
8 {
9 return (u16)readl(p);
10 }
11
12 static inline void set_u16(u32 __iomem *p, u16 val)
13 {
14 writel(val, p);
15 }
16
17 static inline s16 get_s16(const s32 __iomem *p)
18 {
19 return (s16)readl(p);
20 }
21
22 static inline void set_s16(s32 __iomem *p, s16 val)
23 {
24 writel(val, p);
25 }
26
27 /*
28 * The raw data is stored in a format which facilitates rapid
29 * processing by the JR3 DSP chip. The raw_channel structure shows the
30 * format for a single channel of data. Each channel takes four,
31 * two-byte words.
32 *
33 * Raw_time is an unsigned integer which shows the value of the JR3
34 * DSP's internal clock at the time the sample was received. The clock
35 * runs at 1/10 the JR3 DSP cycle time. JR3's slowest DSP runs at 10
36 * Mhz. At 10 Mhz raw_time would therefore clock at 1 Mhz.
37 *
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
41 * is used to regulate the voltage over various cable lengths.
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
44 * varies with different sensors.
45 */
46
47 struct raw_channel {
48 u32 raw_time;
49 s32 raw_data;
50 s32 reserved[2];
51 };
52
53 /*
54 * The force_array structure shows the layout for the decoupled and
55 * filtered force data.
56 */
57 struct force_array {
58 s32 fx;
59 s32 fy;
60 s32 fz;
61 s32 mx;
62 s32 my;
63 s32 mz;
64 s32 v1;
65 s32 v2;
66 };
67
68 /*
69 * The six_axis_array structure shows the layout for the offsets and
70 * the full scales.
71 */
72 struct six_axis_array {
73 s32 fx;
74 s32 fy;
75 s32 fz;
76 s32 mx;
77 s32 my;
78 s32 mz;
79 };
80
81 /* VECT_BITS */
82 /*
83 * The vect_bits structure shows the layout for indicating
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
87 * 0x0020. Example: to specify the axes V1x, V1y, V2x, and V2z the
88 * pattern would be 0x002b. Vector 1 defaults to a force vector and
89 * vector 2 defaults to a moment vector. It is possible to change one
90 * or the other so that two force vectors or two moment vectors are
91 * calculated. Setting the changeV1 bit or the changeV2 bit will
92 * change that vector to be the opposite of its default. Therefore to
93 * have two force vectors, set changeV1 to 1.
94 */
95
96 /* vect_bits appears to be unused at this time */
97 enum {
98 fx = 0x0001,
99 fy = 0x0002,
100 fz = 0x0004,
101 mx = 0x0008,
102 my = 0x0010,
103 mz = 0x0020,
104 changeV2 = 0x0040,
105 changeV1 = 0x0080
106 };
107
108 /* WARNING_BITS */
109 /*
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).
112 */
113
114 /* XX_NEAR_SET */
115 /*
116 * The xx_near_sat bits signify that the indicated axis has reached or
117 * exceeded the near saturation value.
118 */
119
120 enum {
121 fx_near_sat = 0x0001,
122 fy_near_sat = 0x0002,
123 fz_near_sat = 0x0004,
124 mx_near_sat = 0x0008,
125 my_near_sat = 0x0010,
126 mz_near_sat = 0x0020
127 };
128
129 /* ERROR_BITS */
130 /* XX_SAT */
131 /* MEMORY_ERROR */
132 /* SENSOR_CHANGE */
133
134 /*
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
137 * xx_sat bits signify that the indicated axis has reached or exceeded
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
141 * than the one originally plugged in has passed its CRC check. This
142 * bit latches, and must be reset by the user.
143 *
144 */
145
146 /* SYSTEM_BUSY */
147
148 /*
149 * The system_busy bit indicates that the JR3 DSP is currently busy
150 * and is not calculating force data. This occurs when a new
151 * coordinate transformation, or new sensor full scale is set by the
152 * user. A very fast system using the force data for feedback might
153 * become unstable during the approximately 4 ms needed to accomplish
154 * these calculations. This bit will also become active when a new
155 * sensor is plugged in and the system needs to recalculate the
156 * calibration CRC.
157 */
158
159 /* CAL_CRC_BAD */
160
161 /*
162 * The cal_crc_bad bit indicates that the calibration CRC has not
163 * calculated to zero. CRC is short for cyclic redundancy code. It is
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
169 * received from the sensor. There are two reasons the CRC may not
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
172 * has been corrupted. A typical sensor transmits the entire contents
173 * of its calibration matrix over 30 times a second. Therefore, if
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
176 * calibration data.
177 */
178
179 /* WATCH_DOG */
180 /* WATCH_DOG2 */
181
182 /*
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
186 * clock are being received. It is possible for watch_dog2 to go off
187 * while watch_dog does not. This would indicate an improper clock
188 * signal, while data is acting correctly. If either watch dog barks,
189 * the sensor data is not being received correctly.
190 */
191
192 enum error_bits_t {
193 fx_sat = 0x0001,
194 fy_sat = 0x0002,
195 fz_sat = 0x0004,
196 mx_sat = 0x0008,
197 my_sat = 0x0010,
198 mz_sat = 0x0020,
199 memory_error = 0x0400,
200 sensor_change = 0x0800,
201 system_busy = 0x1000,
202 cal_crc_bad = 0x2000,
203 watch_dog2 = 0x4000,
204 watch_dog = 0x8000
205 };
206
207 /* THRESH_STRUCT */
208
209 /*
210 * This structure shows the layout for a single threshold packet inside of a
211 * load envelope. Each load envelope can contain several threshold structures.
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
215 * bits will be set ... (pag.24).
216 * 3. bit_pattern contains the bits that will be set if the threshold value is
217 * met or exceeded.
218 */
219
220 struct thresh_struct {
221 s32 data_address;
222 s32 threshold;
223 s32 bit_pattern;
224 };
225
226 /* LE_STRUCT */
227
228 /*
229 * Layout of a load enveloped packet. Four thresholds are showed ... for more
230 * see manual (pag.25)
231 * 1. latch_bits is a bit pattern that show which bits the user wants to latch.
232 * The latched bits will not be reset once the threshold which set them is
233 * no longer true. In that case the user must reset them using the reset_bit
234 * command.
235 * 2. number_of_xx_thresholds specify how many GE/LE threshold there are.
236 */
237 struct le_struct {
238 s32 latch_bits;
239 s32 number_of_ge_thresholds;
240 s32 number_of_le_thresholds;
241 struct thresh_struct thresholds[4];
242 s32 reserved;
243 };
244
245 /* LINK_TYPES */
246 /*
247 * Link types is an enumerated value showing the different possible transform
248 * link types.
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)
257 */
258
259 enum link_types {
260 end_x_form,
261 tx,
262 ty,
263 tz,
264 rx,
265 ry,
266 rz,
267 neg
268 };
269
270 /* TRANSFORM */
271 /* Structure used to describe a transform. */
272 struct intern_transform {
273 struct {
274 u32 link_type;
275 s32 link_amount;
276 } link[8];
277 };
278
279 /*
280 * JR3 force/torque sensor data definition. For more information see sensor
281 * and hardware manuals.
282 */
283
284 struct jr3_sensor {
285 /*
286 * Raw_channels is the area used to store the raw data coming from
287 * the sensor.
288 */
289
290 struct raw_channel raw_channels[16]; /* offset 0x0000 */
291
292 /*
293 * Copyright is a null terminated ASCII string containing the JR3
294 * copyright notice.
295 */
296
297 u32 copyright[0x0018]; /* offset 0x0040 */
298 s32 reserved1[0x0008]; /* offset 0x0058 */
299
300 /*
301 * Shunts contains the sensor shunt readings. Some JR3 sensors have
302 * the ability to have their gains adjusted. This allows the
303 * hardware full scales to be adjusted to potentially allow
304 * better resolution or dynamic range. For sensors that have
305 * this ability, the gain of each sensor channel is measured at
306 * the time of calibration using a shunt resistor. The shunt
307 * resistor is placed across one arm of the resistor bridge, and
308 * the resulting change in the output of that channel is
309 * measured. This measurement is called the shunt reading, and
310 * is recorded here. If the user has changed the gain of the //
311 * sensor, and made new shunt measurements, those shunt
312 * measurements can be placed here. The JR3 DSP will then scale
313 * the calibration matrix such so that the gains are again
314 * proper for the indicated shunt readings. If shunts is 0, then
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
318 * user must call either command (5) use transform # (pg. 33) or
319 * command (10) set new full scales (pg. 38).
320 */
321
322 struct six_axis_array shunts; /* offset 0x0060 */
323 s32 reserved2[2]; /* offset 0x0066 */
324
325 /*
326 * Default_FS contains the full scale that is used if the user does
327 * not set a full scale.
328 */
329
330 struct six_axis_array default_FS; /* offset 0x0068 */
331 s32 reserved3; /* offset 0x006e */
332
333 /*
334 * Load_envelope_num is the load envelope number that is currently
335 * in use. This value is set by the user after one of the load
336 * envelopes has been initialized.
337 */
338
339 s32 load_envelope_num; /* offset 0x006f */
340
341 /* Min_full_scale is the recommend minimum full scale. */
342
343 /*
344 * These values in conjunction with max_full_scale (pg. 9) helps
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
350 * set too high, then resolution is lost as the data is shifted to
351 * the right and the least significant bits are lost. Therefore the
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
354 * will not saturate prematurely. These values are calculated
355 * whenever a new coordinate transformation is calculated. It is
356 * possible for the recommended maximum to be less than the
357 * recommended minimum. This comes about primarily when using
358 * coordinate translations. If this is the case, it means that any
359 * full scale selection will be a compromise between dynamic range
360 * and resolution. It is usually recommended to compromise in favor
361 * of resolution which means that the recommend maximum full scale
362 * should be chosen.
363 *
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
366 * cause erroneous results.
367 */
368
369 struct six_axis_array min_full_scale; /* offset 0x0070 */
370 s32 reserved4; /* offset 0x0076 */
371
372 /*
373 * Transform_num is the transform number that is currently in use.
374 * This value is set by the JR3 DSP after the user has used command
375 * (5) use transform # (pg. 33).
376 */
377
378 s32 transform_num; /* offset 0x0077 */
379
380 /*
381 * Max_full_scale is the recommended maximum full scale.
382 * See min_full_scale (pg. 9) for more details.
383 */
384
385 struct six_axis_array max_full_scale; /* offset 0x0078 */
386 s32 reserved5; /* offset 0x007e */
387
388 /*
389 * Peak_address is the address of the data which will be monitored
390 * by the peak routine. This value is set by the user. The peak
391 * routine will monitor any 8 contiguous addresses for peak values.
392 * (ex. to watch filter3 data for peaks, set this value to 0x00a8).
393 */
394
395 s32 peak_address; /* offset 0x007f */
396
397 /*
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,
402 * Fz, Mx, My and Mz can be written by the user prior to calling
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
407 * axes used for each vector respectively.
408 */
409
410 struct force_array full_scale; /* offset 0x0080 */
411
412 /*
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
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
417 * can be written as well as read. The JR3 DSP will use the values
418 * written here within 2 ms of being written. To set future
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
421 * values when a new transform is applied. So if the offsets are
422 * such that FX is 5 and all other values are zero, after rotating
423 * about Z by 90 degrees, FY would be 5 and all others would be zero.
424 */
425
426 struct six_axis_array offsets; /* offset 0x0088 */
427
428 /*
429 * Offset_num is the number of the offset currently in use. This
430 * value is set by the JR3 DSP after the user has executed the use
431 * offset # command (pg. 34). It can vary between 0 and 15.
432 */
433
434 s32 offset_num; /* offset 0x008e */
435
436 /*
437 * Vect_axes is a bit map showing which of the axes are being used
438 * in the vector calculations. This value is set by the JR3 DSP
439 * after the user has executed the set vector axes command (pg. 37).
440 */
441
442 u32 vect_axes; /* offset 0x008f */
443
444 /*
445 * Filter0 is the decoupled, unfiltered data from the JR3 sensor.
446 * This data has had the offsets removed.
447 *
448 * These force_arrays hold the filtered data. The decoupled data is
449 * passed through cascaded low pass filters. Each succeeding filter
450 * has a cutoff frequency of 1/4 of the preceding filter. The cutoff
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
453 * frequency of filter1 would be 500 Hz. The following filters would
454 * cutoff at 125 Hz, 31.25 Hz, 7.813 Hz, 1.953 Hz and 0.4883 Hz.
455 */
456
457 struct force_array filter[7]; /*
458 * offset 0x0090,
459 * offset 0x0098,
460 * offset 0x00a0,
461 * offset 0x00a8,
462 * offset 0x00b0,
463 * offset 0x00b8,
464 * offset 0x00c0
465 */
466
467 /*
468 * Rate_data is the calculated rate data. It is a first derivative
469 * calculation. It is calculated at a frequency specified by the
470 * variable rate_divisor (pg. 12). The data on which the rate is
471 * calculated is specified by the variable rate_address (pg. 12).
472 */
473
474 struct force_array rate_data; /* offset 0x00c8 */
475
476 /*
477 * Minimum_data & maximum_data are the minimum and maximum (peak)
478 * data values. The JR3 DSP can monitor any 8 contiguous data items
479 * for minimums and maximums at full sensor bandwidth. This area is
480 * only updated at user request. This is done so that the user does
481 * not miss any peaks. To read the data, use either the read peaks
482 * command (pg. 40), or the read and reset peaks command (pg. 39).
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
486 * also lost when plugging in a new sensor.
487 */
488
489 struct force_array minimum_data; /* offset 0x00d0 */
490 struct force_array maximum_data; /* offset 0x00d8 */
491
492 /*
493 * Near_sat_value & sat_value contain the value used to determine if
494 * the raw sensor is saturated. Because of decoupling and offset
495 * removal, it is difficult to tell from the processed data if the
496 * sensor is saturated. These values, in conjunction with the error
497 * and warning words (pg. 14), provide this critical information.
498 * These two values may be set by the host processor. These values
499 * are positive signed values, since the saturation logic uses the
500 * absolute values of the raw data. The near_sat_value defaults to
501 * approximately 80% of the ADC's full scale, which is 26214, while
502 * sat_value defaults to the ADC's full scale:
503 *
504 * sat_value = 32768 - 2^(16 - ADC bits)
505 */
506
507 s32 near_sat_value; /* offset 0x00e0 */
508 s32 sat_value; /* offset 0x00e1 */
509
510 /*
511 * Rate_address, rate_divisor & rate_count contain the data used to
512 * control the calculations of the rates. Rate_address is the
513 * address of the data used for the rate calculation. The JR3 DSP
514 * will calculate rates for any 8 contiguous values (ex. to
515 * calculate rates for filter3 data set rate_address to 0x00a8).
516 * Rate_divisor is how often the rate is calculated. If rate_divisor
517 * is 1, the rates are calculated at full sensor bandwidth. If
518 * rate_divisor is 200, rates are calculated every 200 samples.
519 * Rate_divisor can be any value between 1 and 65536. Set
520 * rate_divisor to 0 to calculate rates every 65536 samples.
521 * Rate_count starts at zero and counts until it equals
522 * rate_divisor, at which point the rates are calculated, and
523 * rate_count is reset to 0. When setting a new rate divisor, it is
524 * a good idea to set rate_count to one less than rate divisor. This
525 * will minimize the time necessary to start the rate calculations.
526 */
527
528 s32 rate_address; /* offset 0x00e2 */
529 u32 rate_divisor; /* offset 0x00e3 */
530 u32 rate_count; /* offset 0x00e4 */
531
532 /*
533 * Command_word2 through command_word0 are the locations used to
534 * send commands to the JR3 DSP. Their usage varies with the command
535 * and is detailed later in the Command Definitions section (pg.
536 * 29). In general the user places values into various memory
537 * locations, and then places the command word into command_word0.
538 * The JR3 DSP will process the command and place a 0 into
539 * command_word0 to indicate successful completion. Alternatively
540 * the JR3 DSP will place a negative number into command_word0 to
541 * indicate an error condition. Please note the command locations
542 * are numbered backwards. (I.E. command_word2 comes before
543 * command_word1).
544 */
545
546 s32 command_word2; /* offset 0x00e5 */
547 s32 command_word1; /* offset 0x00e6 */
548 s32 command_word0; /* offset 0x00e7 */
549
550 /*
551 * Count1 through count6 are unsigned counters which are incremented
552 * every time the matching filters are calculated. Filter1 is
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
555 * are incremented at 1/4 the interval of the counter immediately
556 * preceding it, so they would count at 2 kHz, 500 Hz, 125 Hz etc.
557 * These counters can be used to wait for data. Each time the
558 * counter changes, the corresponding data set can be sampled, and
559 * this will insure that the user gets each sample, once, and only
560 * once.
561 */
562
563 u32 count1; /* offset 0x00e8 */
564 u32 count2; /* offset 0x00e9 */
565 u32 count3; /* offset 0x00ea */
566 u32 count4; /* offset 0x00eb */
567 u32 count5; /* offset 0x00ec */
568 u32 count6; /* offset 0x00ed */
569
570 /*
571 * Error_count is a running count of data reception errors. If this
572 * counter is changing rapidly, it probably indicates a bad sensor
573 * cable connection or other hardware problem. In most installations
574 * error_count should not change at all. But it is possible in an
575 * extremely noisy environment to experience occasional errors even
576 * without a hardware problem. If the sensor is well grounded, this
577 * is probably unavoidable in these environments. On the occasions
578 * where this counter counts a bad sample, that sample is ignored.
579 */
580
581 u32 error_count; /* offset 0x00ee */
582
583 /*
584 * Count_x is a counter which is incremented every time the JR3 DSP
585 * searches its job queues and finds nothing to do. It indicates the
586 * amount of idle time the JR3 DSP has available. It can also be
587 * used to determine if the JR3 DSP is alive. See the Performance
588 * Issues section on pg. 49 for more details.
589 */
590
591 u32 count_x; /* offset 0x00ef */
592
593 /*
594 * Warnings & errors contain the warning and error bits
595 * respectively. The format of these two words is discussed on page
596 * 21 under the headings warnings_bits and error_bits.
597 */
598
599 u32 warnings; /* offset 0x00f0 */
600 u32 errors; /* offset 0x00f1 */
601
602 /*
603 * Threshold_bits is a word containing the bits that are set by the
604 * load envelopes. See load_envelopes (pg. 17) and thresh_struct
605 * (pg. 23) for more details.
606 */
607
608 s32 threshold_bits; /* offset 0x00f2 */
609
610 /*
611 * Last_crc is the value that shows the actual calculated CRC. CRC
612 * is short for cyclic redundancy code. It should be zero. See the
613 * description for cal_crc_bad (pg. 21) for more information.
614 */
615
616 s32 last_CRC; /* offset 0x00f3 */
617
618 /*
619 * EEProm_ver_no contains the version number of the sensor EEProm.
620 * EEProm version numbers can vary between 0 and 255.
621 * Software_ver_no contains the software version number. Version
622 * 3.02 would be stored as 302.
623 */
624
625 s32 eeprom_ver_no; /* offset 0x00f4 */
626 s32 software_ver_no; /* offset 0x00f5 */
627
628 /*
629 * Software_day & software_year are the release date of the software
630 * the JR3 DSP is currently running. Day is the day of the year,
631 * with January 1 being 1, and December 31, being 365 for non leap
632 * years.
633 */
634
635 s32 software_day; /* offset 0x00f6 */
636 s32 software_year; /* offset 0x00f7 */
637
638 /*
639 * Serial_no & model_no are the two values which uniquely identify a
640 * sensor. This model number does not directly correspond to the JR3
641 * model number, but it will provide a unique identifier for
642 * different sensor configurations.
643 */
644
645 u32 serial_no; /* offset 0x00f8 */
646 u32 model_no; /* offset 0x00f9 */
647
648 /*
649 * Cal_day & cal_year are the sensor calibration date. Day is the
650 * day of the year, with January 1 being 1, and December 31, being
651 * 366 for leap years.
652 */
653
654 s32 cal_day; /* offset 0x00fa */
655 s32 cal_year; /* offset 0x00fb */
656
657 /*
658 * Units is an enumerated read only value defining the engineering
659 * units used in the sensor full scale. The meanings of particular
660 * values are discussed in the section detailing the force_units
661 * structure on page 22. The engineering units are setto customer
662 * specifications during sensor manufacture and cannot be changed by
663 * writing to Units.
664 *
665 * Bits contains the number of bits of resolution of the ADC
666 * currently in use.
667 *
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
673 * channels to send, and this field only contains information on the
674 * channels available to send, not on the current configuration. To
675 * find which channels are currently being sent, monitor the
676 * Raw_time fields (pg. 19) in the raw_channels array (pg. 7). If
677 * the time is changing periodically, then that channel is being
678 * received.
679 */
680
681 u32 units; /* offset 0x00fc */
682 s32 bits; /* offset 0x00fd */
683 s32 channels; /* offset 0x00fe */
684
685 /*
686 * Thickness specifies the overall thickness of the sensor from
687 * flange to flange. The engineering units for this value are
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.
691 */
692
693 s32 thickness; /* offset 0x00ff */
694
695 /*
696 * Load_envelopes is a table containing the load envelope
697 * descriptions. There are 16 possible load envelope slots in the
698 * table. The slots are on 16 word boundaries and are numbered 0-15.
699 * Each load envelope needs to start at the beginning of a slot but
700 * need not be fully contained in that slot. That is to say that a
701 * single load envelope can be larger than a single slot. The
702 * software has been tested and ran satisfactorily with 50
703 * thresholds active. A single load envelope this large would take
704 * up 5 of the 16 slots. The load envelope data is laid out in an
705 * order that is most efficient for the JR3 DSP. The structure is
706 * detailed later in the section showing the definition of the
707 * le_struct structure (pg. 23).
708 */
709
710 struct le_struct load_envelopes[0x10]; /* offset 0x0100 */
711
712 /*
713 * Transforms is a table containing the transform descriptions.
714 * There are 16 possible transform slots in the table. The slots are
715 * on 16 word boundaries and are numbered 0-15. Each transform needs
716 * to start at the beginning of a slot but need not be fully
717 * contained in that slot. That is to say that a single transform
718 * can be larger than a single slot. A transform is 2 * no of links
719 * + 1 words in length. So a single slot can contain a transform
720 * with 7 links. Two slots can contain a transform that is 15 links.
721 * The layout is detailed later in the section showing the
722 * definition of the transform structure (pg. 26).
723 */
724
725 struct intern_transform transforms[0x10]; /* offset 0x0200 */
726 };
727
728 struct jr3_block {
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 */
735 };