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@@ -154,7 +154,6 @@ static void set_transforms(struct jr3_channel __iomem *channel,
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num &= 0x000f; /* Make sure that 0 <= num <= 15 */
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for (i = 0; i < 8; i++) {
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-
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set_u16(&channel->transforms[num].link[i].link_type,
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transf.link[i].link_type);
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udelay(1);
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@@ -266,71 +265,53 @@ static int jr3_pci_ai_insn_read(struct comedi_device *dev,
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} else {
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int F = 0;
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switch (axis) {
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- case 0:{
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- F = get_s16
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- (&p->channel->filter
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- [filter].fx);
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- }
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+ case 0:
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+ F = get_s16(&p->channel->
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+ filter[filter].fx);
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break;
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- case 1:{
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- F = get_s16
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- (&p->channel->filter
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- [filter].fy);
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- }
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+ case 1:
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+ F = get_s16(&p->channel->
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+ filter[filter].fy);
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break;
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- case 2:{
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- F = get_s16
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- (&p->channel->filter
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- [filter].fz);
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- }
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+ case 2:
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+ F = get_s16(&p->channel->
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+ filter[filter].fz);
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break;
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- case 3:{
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- F = get_s16
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- (&p->channel->filter
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- [filter].mx);
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- }
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+ case 3:
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+ F = get_s16(&p->channel->
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+ filter[filter].mx);
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break;
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- case 4:{
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- F = get_s16
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- (&p->channel->filter
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- [filter].my);
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- }
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+ case 4:
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+ F = get_s16(&p->channel->
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+ filter[filter].my);
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break;
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- case 5:{
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- F = get_s16
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- (&p->channel->filter
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- [filter].mz);
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- }
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+ case 5:
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+ F = get_s16(&p->channel->
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+ filter[filter].mz);
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break;
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- case 6:{
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- F = get_s16
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- (&p->channel->filter
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- [filter].v1);
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- }
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+ case 6:
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+ F = get_s16(&p->channel->
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+ filter[filter].v1);
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break;
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- case 7:{
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- F = get_s16
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- (&p->channel->filter
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- [filter].v2);
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- }
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+ case 7:
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+ F = get_s16(&p->channel->
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+ filter[filter].v2);
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break;
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}
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data[i] = F + 0x4000;
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}
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} else if (channel == 56) {
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- if (p->state != state_jr3_done) {
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+ if (p->state != state_jr3_done)
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data[i] = 0;
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- } else {
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+ else
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data[i] =
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- get_u16(&p->channel->model_no);
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- }
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+ get_u16(&p->channel->model_no);
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} else if (channel == 57) {
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- if (p->state != state_jr3_done) {
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+ if (p->state != state_jr3_done)
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data[i] = 0;
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- } else {
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+ else
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data[i] =
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- get_u16(&p->channel->serial_no);
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- }
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+ get_u16(&p->channel->serial_no);
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}
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}
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}
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@@ -361,8 +342,8 @@ static int read_idm_word(const u8 *data, size_t size, int *pos,
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int result = 0;
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if (pos && val) {
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/* Skip over non hex */
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- for (; *pos < size && !isxdigit(data[*pos]); (*pos)++) {
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- }
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+ for (; *pos < size && !isxdigit(data[*pos]); (*pos)++)
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+ ;
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/* Collect value */
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*val = 0;
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for (; *pos < size; (*pos)++) {
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@@ -371,8 +352,9 @@ static int read_idm_word(const u8 *data, size_t size, int *pos,
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if (value >= 0) {
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result = 1;
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*val = (*val << 4) + value;
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- } else
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+ } else {
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break;
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+ }
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}
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}
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return result;
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@@ -422,37 +404,38 @@ static int jr3_download_firmware(struct comedi_device *dev, const u8 * data,
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pos = 0;
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while (more) {
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unsigned int count, addr;
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- more = more
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- && read_idm_word(data, size, &pos, &count);
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+ more = more &&
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+ read_idm_word(data, size, &pos, &count);
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if (more && count == 0xffff)
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break;
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- more = more
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- && read_idm_word(data, size, &pos, &addr);
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+ more = more &&
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+ read_idm_word(data, size, &pos, &addr);
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dev_dbg(dev->class_dev,
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"Loading#%d %4.4x bytes at %4.4x\n",
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i, count, addr);
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while (more && count > 0) {
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if (addr & 0x4000) {
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- /* 16 bit data, never seen in real life!! */
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+ /* 16 bit data, never seen
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+ * in real life!! */
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unsigned int data1;
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- more = more
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- && read_idm_word(data,
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+ more = more &&
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+ read_idm_word(data,
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size, &pos,
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&data1);
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count--;
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- /* printk("jr3_data, not tested\n"); */
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- /* jr3[addr + 0x20000 * pnum] = data1; */
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+ /* jr3[addr + 0x20000 * pnum] =
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+ data1; */
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} else {
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/* Download 24 bit program */
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unsigned int data1, data2;
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- more = more
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- && read_idm_word(data,
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+ more = more &&
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+ read_idm_word(data,
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size, &pos,
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&data1);
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- more = more
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- && read_idm_word(data, size,
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+ more = more &&
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+ read_idm_word(data, size,
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&pos,
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&data2);
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count -= 2;
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@@ -467,7 +450,6 @@ static int jr3_download_firmware(struct comedi_device *dev, const u8 * data,
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[i].program_high
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[addr], data2);
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udelay(1);
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-
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}
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}
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addr++;
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@@ -497,142 +479,141 @@ static struct poll_delay_t jr3_pci_poll_subdevice(struct comedi_subdevice *s)
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}
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switch (p->state) {
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- case state_jr3_poll:{
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+ case state_jr3_poll: {
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u16 model_no = get_u16(&channel->model_no);
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u16 serial_no = get_u16(&channel->serial_no);
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if ((errors & (watch_dog | watch_dog2)) ||
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model_no == 0 || serial_no == 0) {
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-/*
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- * Still no sensor, keep on polling. Since it takes up to 10 seconds
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- * for offsets to stabilize, polling each second should suffice.
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- */
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+ /*
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+ * Still no sensor, keep on polling.
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+ * Since it takes up to 10 seconds
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+ * for offsets to stabilize, polling
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+ * each second should suffice.
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+ */
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result = poll_delay_min_max(1000, 2000);
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} else {
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p->retries = 0;
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p->state =
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- state_jr3_init_wait_for_offset;
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+ state_jr3_init_wait_for_offset;
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result = poll_delay_min_max(1000, 2000);
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}
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}
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break;
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- case state_jr3_init_wait_for_offset:{
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- p->retries++;
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- if (p->retries < 10) {
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- /* Wait for offeset to stabilize (< 10 s according to manual) */
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- result = poll_delay_min_max(1000, 2000);
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- } else {
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- struct transform_t transf;
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-
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- p->model_no =
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- get_u16(&channel->model_no);
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- p->serial_no =
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- get_u16(&channel->serial_no);
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-
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- /* Transformation all zeros */
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- for (i = 0; i < ARRAY_SIZE(transf.link); i++) {
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- transf.link[i].link_type =
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- (enum link_types)0;
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- transf.link[i].link_amount = 0;
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- }
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-
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- set_transforms(channel, transf, 0);
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- use_transform(channel, 0);
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- p->state =
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- state_jr3_init_transform_complete;
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- result = poll_delay_min_max(20, 100); /* Allow 20 ms for completion */
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+ case state_jr3_init_wait_for_offset:
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+ p->retries++;
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+ if (p->retries < 10) {
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+ /* Wait for offeset to stabilize
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+ * (< 10 s according to manual) */
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+ result = poll_delay_min_max(1000, 2000);
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+ } else {
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+ struct transform_t transf;
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+
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+ p->model_no = get_u16(&channel->model_no);
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+ p->serial_no = get_u16(&channel->serial_no);
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+
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+ /* Transformation all zeros */
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+ for (i = 0; i < ARRAY_SIZE(transf.link); i++) {
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+ transf.link[i].link_type =
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+ (enum link_types)0;
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+ transf.link[i].link_amount = 0;
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}
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- } break;
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- case state_jr3_init_transform_complete:{
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- if (!is_complete(channel)) {
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- result = poll_delay_min_max(20, 100);
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- } else {
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- /* Set full scale */
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- struct six_axis_t min_full_scale;
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- struct six_axis_t max_full_scale;
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-
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- min_full_scale =
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- get_min_full_scales(channel);
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- max_full_scale =
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- get_max_full_scales(channel);
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- set_full_scales(channel,
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- max_full_scale);
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- p->state =
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- state_jr3_init_set_full_scale_complete;
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- result = poll_delay_min_max(20, 100); /* Allow 20 ms for completion */
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- }
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+ set_transforms(channel, transf, 0);
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+ use_transform(channel, 0);
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+ p->state = state_jr3_init_transform_complete;
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+ /* Allow 20 ms for completion */
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+ result = poll_delay_min_max(20, 100);
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}
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break;
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- case state_jr3_init_set_full_scale_complete:{
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- if (!is_complete(channel)) {
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- result = poll_delay_min_max(20, 100);
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- } else {
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- struct force_array __iomem *full_scale;
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-
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- /* Use ranges in kN or we will overflow arount 2000N! */
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- full_scale = &channel->full_scale;
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- p->range[0].range.min =
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- -get_s16(&full_scale->fx) * 1000;
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- p->range[0].range.max =
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- get_s16(&full_scale->fx) * 1000;
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- p->range[1].range.min =
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- -get_s16(&full_scale->fy) * 1000;
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- p->range[1].range.max =
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- get_s16(&full_scale->fy) * 1000;
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- p->range[2].range.min =
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- -get_s16(&full_scale->fz) * 1000;
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- p->range[2].range.max =
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- get_s16(&full_scale->fz) * 1000;
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- p->range[3].range.min =
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- -get_s16(&full_scale->mx) * 100;
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- p->range[3].range.max =
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- get_s16(&full_scale->mx) * 100;
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- p->range[4].range.min =
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- -get_s16(&full_scale->my) * 100;
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- p->range[4].range.max =
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- get_s16(&full_scale->my) * 100;
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- p->range[5].range.min =
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- -get_s16(&full_scale->mz) * 100;
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- p->range[5].range.max =
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- get_s16(&full_scale->mz) * 100;
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- p->range[6].range.min = -get_s16(&full_scale->v1) * 100; /* ?? */
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- p->range[6].range.max = get_s16(&full_scale->v1) * 100; /* ?? */
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- p->range[7].range.min = -get_s16(&full_scale->v2) * 100; /* ?? */
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- p->range[7].range.max = get_s16(&full_scale->v2) * 100; /* ?? */
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- p->range[8].range.min = 0;
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- p->range[8].range.max = 65535;
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-
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- use_offset(channel, 0);
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- p->state =
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- state_jr3_init_use_offset_complete;
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- result = poll_delay_min_max(40, 100); /* Allow 40 ms for completion */
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- }
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+ case state_jr3_init_transform_complete:
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+ if (!is_complete(channel)) {
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+ result = poll_delay_min_max(20, 100);
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+ } else {
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+ /* Set full scale */
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+ struct six_axis_t min_full_scale;
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+ struct six_axis_t max_full_scale;
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+
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+ min_full_scale = get_min_full_scales(channel);
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+ max_full_scale = get_max_full_scales(channel);
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+ set_full_scales(channel, max_full_scale);
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+
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+ p->state =
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+ state_jr3_init_set_full_scale_complete;
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+ /* Allow 20 ms for completion */
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+ result = poll_delay_min_max(20, 100);
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}
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break;
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- case state_jr3_init_use_offset_complete:{
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- if (!is_complete(channel)) {
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- result = poll_delay_min_max(20, 100);
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- } else {
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- set_s16(&channel->offsets.fx, 0);
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- set_s16(&channel->offsets.fy, 0);
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- set_s16(&channel->offsets.fz, 0);
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- set_s16(&channel->offsets.mx, 0);
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- set_s16(&channel->offsets.my, 0);
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- set_s16(&channel->offsets.mz, 0);
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-
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- set_offset(channel);
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-
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- p->state = state_jr3_done;
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- }
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+ case state_jr3_init_set_full_scale_complete:
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+ if (!is_complete(channel)) {
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+ result = poll_delay_min_max(20, 100);
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+ } else {
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+ struct force_array __iomem *full_scale;
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+
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+ /* Use ranges in kN or we will
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+ * overflow around 2000N! */
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+ full_scale = &channel->full_scale;
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+ p->range[0].range.min =
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+ -get_s16(&full_scale->fx) * 1000;
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+ p->range[0].range.max =
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+ get_s16(&full_scale->fx) * 1000;
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+ p->range[1].range.min =
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+ -get_s16(&full_scale->fy) * 1000;
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+ p->range[1].range.max =
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+ get_s16(&full_scale->fy) * 1000;
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+ p->range[2].range.min =
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+ -get_s16(&full_scale->fz) * 1000;
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+ p->range[2].range.max =
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+ get_s16(&full_scale->fz) * 1000;
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+ p->range[3].range.min =
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+ -get_s16(&full_scale->mx) * 100;
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+ p->range[3].range.max =
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+ get_s16(&full_scale->mx) * 100;
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+ p->range[4].range.min =
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+ -get_s16(&full_scale->my) * 100;
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+ p->range[4].range.max =
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+ get_s16(&full_scale->my) * 100;
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+ p->range[5].range.min =
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+ -get_s16(&full_scale->mz) * 100;
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+ p->range[5].range.max =
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+ get_s16(&full_scale->mz) * 100; /* ?? */
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+ p->range[6].range.min =
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+ -get_s16(&full_scale->v1) * 100;/* ?? */
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|
|
+ p->range[6].range.max =
|
|
|
+ get_s16(&full_scale->v1) * 100; /* ?? */
|
|
|
+ p->range[7].range.min =
|
|
|
+ -get_s16(&full_scale->v2) * 100;/* ?? */
|
|
|
+ p->range[7].range.max =
|
|
|
+ get_s16(&full_scale->v2) * 100; /* ?? */
|
|
|
+ p->range[8].range.min = 0;
|
|
|
+ p->range[8].range.max = 65535;
|
|
|
+
|
|
|
+ use_offset(channel, 0);
|
|
|
+ p->state = state_jr3_init_use_offset_complete;
|
|
|
+ /* Allow 40 ms for completion */
|
|
|
+ result = poll_delay_min_max(40, 100);
|
|
|
}
|
|
|
break;
|
|
|
- case state_jr3_done:{
|
|
|
- poll_delay_min_max(10000, 20000);
|
|
|
+ case state_jr3_init_use_offset_complete:
|
|
|
+ if (!is_complete(channel)) {
|
|
|
+ result = poll_delay_min_max(20, 100);
|
|
|
+ } else {
|
|
|
+ set_s16(&channel->offsets.fx, 0);
|
|
|
+ set_s16(&channel->offsets.fy, 0);
|
|
|
+ set_s16(&channel->offsets.fz, 0);
|
|
|
+ set_s16(&channel->offsets.mx, 0);
|
|
|
+ set_s16(&channel->offsets.my, 0);
|
|
|
+ set_s16(&channel->offsets.mz, 0);
|
|
|
+
|
|
|
+ set_offset(channel);
|
|
|
+
|
|
|
+ p->state = state_jr3_done;
|
|
|
}
|
|
|
break;
|
|
|
- default:{
|
|
|
- poll_delay_min_max(1000, 2000);
|
|
|
- }
|
|
|
+ case state_jr3_done:
|
|
|
+ poll_delay_min_max(10000, 20000);
|
|
|
+ break;
|
|
|
+ default:
|
|
|
+ poll_delay_min_max(1000, 2000);
|
|
|
break;
|
|
|
}
|
|
|
}
|
|
@@ -654,22 +635,21 @@ static void jr3_pci_poll_dev(unsigned long data)
|
|
|
/* Poll all channels that are ready to be polled */
|
|
|
for (i = 0; i < devpriv->n_channels; i++) {
|
|
|
struct jr3_pci_subdev_private *subdevpriv =
|
|
|
- dev->subdevices[i].private;
|
|
|
+ dev->subdevices[i].private;
|
|
|
if (now > subdevpriv->next_time_min) {
|
|
|
struct poll_delay_t sub_delay;
|
|
|
|
|
|
sub_delay = jr3_pci_poll_subdevice(&dev->subdevices[i]);
|
|
|
subdevpriv->next_time_min =
|
|
|
- jiffies + msecs_to_jiffies(sub_delay.min);
|
|
|
+ jiffies + msecs_to_jiffies(sub_delay.min);
|
|
|
subdevpriv->next_time_max =
|
|
|
- jiffies + msecs_to_jiffies(sub_delay.max);
|
|
|
- if (sub_delay.max && sub_delay.max < delay) {
|
|
|
-/*
|
|
|
-* Wake up as late as possible -> poll as many channels as possible
|
|
|
-* at once
|
|
|
-*/
|
|
|
+ jiffies + msecs_to_jiffies(sub_delay.max);
|
|
|
+ if (sub_delay.max && sub_delay.max < delay)
|
|
|
+ /*
|
|
|
+ * Wake up as late as possible ->
|
|
|
+ * poll as many channels as possible at once.
|
|
|
+ */
|
|
|
delay = sub_delay.max;
|
|
|
- }
|
|
|
}
|
|
|
}
|
|
|
spin_unlock_irqrestore(&dev->spinlock, flags);
|
|
@@ -727,7 +707,8 @@ static int __devinit jr3_pci_auto_attach(struct comedi_device *dev,
|
|
|
|
|
|
dev->iobase = 1; /* the "detach" needs this */
|
|
|
devpriv->iobase = ioremap(pci_resource_start(pcidev, 0),
|
|
|
- offsetof(struct jr3_t, channel[devpriv->n_channels]));
|
|
|
+ offsetof(struct jr3_t,
|
|
|
+ channel[devpriv->n_channels]));
|
|
|
if (!devpriv->iobase)
|
|
|
return -ENOMEM;
|
|
|
|
|
@@ -742,7 +723,8 @@ static int __devinit jr3_pci_auto_attach(struct comedi_device *dev,
|
|
|
dev->subdevices[i].n_chan = 8 * 7 + 2;
|
|
|
dev->subdevices[i].insn_read = jr3_pci_ai_insn_read;
|
|
|
dev->subdevices[i].private =
|
|
|
- kzalloc(sizeof(struct jr3_pci_subdev_private), GFP_KERNEL);
|
|
|
+ kzalloc(sizeof(struct jr3_pci_subdev_private),
|
|
|
+ GFP_KERNEL);
|
|
|
if (dev->subdevices[i].private) {
|
|
|
struct jr3_pci_subdev_private *p;
|
|
|
int j;
|
|
@@ -772,15 +754,15 @@ static int __devinit jr3_pci_auto_attach(struct comedi_device *dev,
|
|
|
p->range[8].range.max = 65536;
|
|
|
|
|
|
p->range_table_list[56] =
|
|
|
- (struct comedi_lrange *)&p->range[8];
|
|
|
+ (struct comedi_lrange *)&p->range[8];
|
|
|
p->range_table_list[57] =
|
|
|
- (struct comedi_lrange *)&p->range[8];
|
|
|
+ (struct comedi_lrange *)&p->range[8];
|
|
|
p->maxdata_list[56] = 0xffff;
|
|
|
p->maxdata_list[57] = 0xffff;
|
|
|
/* Channel specific range and maxdata */
|
|
|
dev->subdevices[i].range_table = NULL;
|
|
|
dev->subdevices[i].range_table_list =
|
|
|
- p->range_table_list;
|
|
|
+ p->range_table_list;
|
|
|
dev->subdevices[i].maxdata = 0;
|
|
|
dev->subdevices[i].maxdata_list = p->maxdata_list;
|
|
|
}
|
|
@@ -794,18 +776,19 @@ static int __devinit jr3_pci_auto_attach(struct comedi_device *dev,
|
|
|
|
|
|
if (result < 0)
|
|
|
return result;
|
|
|
-/*
|
|
|
- * TODO: use firmware to load preferred offset tables. Suggested
|
|
|
- * format:
|
|
|
- * model serial Fx Fy Fz Mx My Mz\n
|
|
|
- *
|
|
|
- * comedi_load_firmware(dev, "jr3_offsets_table", jr3_download_firmware);
|
|
|
- */
|
|
|
+ /*
|
|
|
+ * TODO: use firmware to load preferred offset tables. Suggested
|
|
|
+ * format:
|
|
|
+ * model serial Fx Fy Fz Mx My Mz\n
|
|
|
+ *
|
|
|
+ * comedi_load_firmware(dev, "jr3_offsets_table",
|
|
|
+ * jr3_download_firmware);
|
|
|
+ */
|
|
|
|
|
|
-/*
|
|
|
- * It takes a few milliseconds for software to settle as much as we
|
|
|
- * can read firmware version
|
|
|
- */
|
|
|
+ /*
|
|
|
+ * It takes a few milliseconds for software to settle as much as we
|
|
|
+ * can read firmware version
|
|
|
+ */
|
|
|
msleep_interruptible(25);
|
|
|
for (i = 0; i < 0x18; i++) {
|
|
|
dev_dbg(dev->class_dev, "%c\n",
|