#include <stdio.h>
#include <unistd.h>
#include <stdlib.h>
#include <errno.h>
#include <string.h>
#include <sys/time.h>
#include <sys/neutrino.h>
#include <sys/iofunc.h>
#include <sys/dispatch.h>
#include <sys/mman.h>
#include <hw/pci.h>
#include "QNX101/jr3pci3.idm"

Include dependency graph for jr3_driver.cpp:

Classes
struct	error_bits

struct	force_array

struct	force_sensor_data

struct	le_struct

struct	links

struct	raw_channel

struct	server_msg_t

struct	six_axis_array

struct	thresh_struct

struct	transform

struct	vect_bits

struct	warning_bits

Macros
#define	DEVICEID 0x3112 /* for 2ch board */

#define	Jr3DmAddrMask 0x6000

#define	Jr3NoAddrMask 0x40000

#define	Jr3ResetAddr 0x18000

#define	min(a, b) ((a) < (b) ? (a) : (b))

#define	ReadJr3(addr) (ReadJr3Dm((addr) \| Jr3DmAddrMask))

#define	ReadJr3Dm(addr) ((uint16_t volatile )(ToJr3PciAddrH((addr))))

#define	ReadJr3Pm(addr)

#define	ToJr3PciAddrH(addr) (((int)(addr) << 2) + Jr3BaseAddressH)

#define	ToJr3PciAddrL(addr) (((int)(addr) << 2) + Jr3BaseAddressL)

#define	VENDORID 0x1762 /* Vendor ID of JR3 */

#define	WriteJr3(addr, data) WriteJr3Dm((addr) \| Jr3DmAddrMask,data)

#define	WriteJr3Dm(addr, data) (int volatile )(ToJr3PciAddrH((addr))) = (int)(data)

#define	WriteJr3Pm(addr, data) WriteJr3Pm2((addr),(data) >> 8, (data))

#define	WriteJr3Pm2(addr, data, data2) ((int volatile )ToJr3PciAddrH((addr)) = (int)(data));((int volatile )ToJr3PciAddrL((addr)) = (int)(data2))

Enumerations
enum	force_units { lbs_in_lbs_mils, N_dNm_mm10, kgf10_kgFcm_mm10, klbs_kin_lbs_mils, reserved_units_4, reserved_units_5, reserved_units_6, reserved_units_7 }

enum	link_types { end_x_form, tx, ty, tz, rx, ry, rz, neg }

Functions
int	download (unsigned int base0, unsigned int base1)

void	get_force_sensor_info (force_sensor_data data, char msg)

int	io_read (resmgr_context_t ctp, io_read_t msg, RESMGR_OCB_T *ocb)

int	main (int argc, char **argv)

int	message_callback (message_context_t ctp, int type, unsigned flags, void handle)

void	wait_t (void)

Variables
static char *	buffer = (char *) "Hello world\n"

static resmgr_connect_funcs_t	ConnectFuncs

char *	force_units_str []

static iofunc_attr_t	IoFuncAttr

static resmgr_io_funcs_t	IoFuncs

volatile uint32_t	Jr3BaseAddress0H

volatile uint32_t	Jr3BaseAddress0L

volatile uint32_t	Jr3BaseAddress1H

volatile uint32_t	Jr3BaseAddress1L

volatile uint32_t	Jr3BaseAddressH

volatile uint32_t	Jr3BaseAddressL

unsigned long	MappedAddress

Macro Definition Documentation

◆ DEVICEID

#define DEVICEID 0x3112 /* for 2ch board */

Definition at line 34 of file jr3_driver.cpp.

◆ Jr3DmAddrMask

#define Jr3DmAddrMask 0x6000

Definition at line 39 of file jr3_driver.cpp.

◆ Jr3NoAddrMask

#define Jr3NoAddrMask 0x40000

Definition at line 38 of file jr3_driver.cpp.

◆ Jr3ResetAddr

#define Jr3ResetAddr 0x18000

Definition at line 37 of file jr3_driver.cpp.

◆ min

#define min	(	a,
		b
	)	((a) < (b) ? (a) : (b))

Definition at line 22 of file jr3_driver.cpp.

◆ ReadJr3

#define ReadJr3 ( addr ) (ReadJr3Dm((addr) | Jr3DmAddrMask))

Definition at line 59 of file jr3_driver.cpp.

◆ ReadJr3Dm

#define ReadJr3Dm ( addr ) (*(uint16_t volatile *)(ToJr3PciAddrH((addr))))

Definition at line 55 of file jr3_driver.cpp.

◆ ReadJr3Pm

#define ReadJr3Pm ( addr )

Value:

(*(uint16_t volatile *)(ToJr3PciAddrH((addr))) << 8 |\

*(uint8_t volatile *)(ToJr3PciAddrL((addr))))

ToJr3PciAddrH

#define ToJr3PciAddrH(addr)

Definition: jr3_driver.cpp:43

ToJr3PciAddrL

#define ToJr3PciAddrL(addr)

Definition: jr3_driver.cpp:44

Definition at line 47 of file jr3_driver.cpp.

◆ ToJr3PciAddrH

#define ToJr3PciAddrH ( addr ) (((int)(addr) << 2) + Jr3BaseAddressH)

Definition at line 43 of file jr3_driver.cpp.

◆ ToJr3PciAddrL

#define ToJr3PciAddrL ( addr ) (((int)(addr) << 2) + Jr3BaseAddressL)

Definition at line 44 of file jr3_driver.cpp.

◆ VENDORID

#define VENDORID 0x1762 /* Vendor ID of JR3 */

Definition at line 31 of file jr3_driver.cpp.

◆ WriteJr3

#define WriteJr3	(	addr,
		data
	)	WriteJr3Dm((addr) \| Jr3DmAddrMask,data)

Definition at line 60 of file jr3_driver.cpp.

◆ WriteJr3Dm

#define WriteJr3Dm	(	addr,
		data
	)	(int volatile )(ToJr3PciAddrH((addr))) = (int)(data)

Definition at line 56 of file jr3_driver.cpp.

◆ WriteJr3Pm

#define WriteJr3Pm	(	addr,
		data
	)	WriteJr3Pm2((addr),(data) >> 8, (data))

Definition at line 52 of file jr3_driver.cpp.

◆ WriteJr3Pm2

#define WriteJr3Pm2	(	addr,
		data,
		data2
	)	((int volatile )ToJr3PciAddrH((addr)) = (int)(data));((int volatile )ToJr3PciAddrL((addr)) = (int)(data2))

Definition at line 50 of file jr3_driver.cpp.

Enumeration Type Documentation

◆ force_units

enum force_units

Enumerator
lbs_in_lbs_mils
N_dNm_mm10
kgf10_kgFcm_mm10
klbs_kin_lbs_mils
reserved_units_4
reserved_units_5
reserved_units_6
reserved_units_7

Definition at line 174 of file jr3_driver.cpp.

◆ link_types

enum link_types

Enumerator
end_x_form
tx
ty
tz
rx
ry
rz
neg

Definition at line 206 of file jr3_driver.cpp.

Function Documentation

◆ download()

int download	(	unsigned int	base0,
		unsigned int	base1
	)

Definition at line 329 of file jr3_driver.cpp.

◆ get_force_sensor_info()

void get_force_sensor_info	(	force_sensor_data *	data,
		char *	msg
	)

Definition at line 389 of file jr3_driver.cpp.

◆ io_read()

int io_read	(	resmgr_context_t *	ctp,
		io_read_t *	msg,
		RESMGR_OCB_T *	ocb
	)

Definition at line 639 of file jr3_driver.cpp.

◆ main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 506 of file jr3_driver.cpp.

◆ message_callback()

int message_callback	(	message_context_t *	ctp,
		int	type,
		unsigned	flags,
		void *	handle
	)

Definition at line 430 of file jr3_driver.cpp.

◆ wait_t()

void wait_t ( void )

Definition at line 693 of file jr3_driver.cpp.

Variable Documentation

◆ buffer

char* buffer = (char *) "Hello world\n"

static

Definition at line 25 of file jr3_driver.cpp.

◆ ConnectFuncs

resmgr_connect_funcs_t ConnectFuncs

static

Definition at line 62 of file jr3_driver.cpp.

◆ force_units_str

char* force_units_str[]

Initial value:

=
  {  (char *) "pound, inch*pound, inch*1000",
                (char *) "Newton, Newton*meter*10, mm*10",
                (char *) "kilogram-force*10, kilogram-Force*cm, mm*10",
                (char *) "kilopound, kiloinch*pound, inch*1000" }

Definition at line 167 of file jr3_driver.cpp.

◆ IoFuncAttr

iofunc_attr_t IoFuncAttr

static

Definition at line 64 of file jr3_driver.cpp.

◆ IoFuncs

resmgr_io_funcs_t IoFuncs

static

Definition at line 63 of file jr3_driver.cpp.

◆ Jr3BaseAddress0H

volatile uint32_t Jr3BaseAddress0H

Definition at line 69 of file jr3_driver.cpp.

◆ Jr3BaseAddress0L

volatile uint32_t Jr3BaseAddress0L

Definition at line 70 of file jr3_driver.cpp.

◆ Jr3BaseAddress1H

volatile uint32_t Jr3BaseAddress1H

Definition at line 71 of file jr3_driver.cpp.

◆ Jr3BaseAddress1L

volatile uint32_t Jr3BaseAddress1L

Definition at line 72 of file jr3_driver.cpp.

◆ Jr3BaseAddressH

volatile uint32_t Jr3BaseAddressH

Definition at line 67 of file jr3_driver.cpp.

◆ Jr3BaseAddressL

volatile uint32_t Jr3BaseAddressL

Definition at line 68 of file jr3_driver.cpp.

◆ MappedAddress

unsigned long MappedAddress

Definition at line 40 of file jr3_driver.cpp.

Classes

Macros

Enumerations

Functions

Variables

Macro Definition Documentation

◆ DEVICEID

◆ Jr3DmAddrMask

◆ Jr3NoAddrMask

◆ Jr3ResetAddr

◆ min

◆ ReadJr3

◆ ReadJr3Dm

◆ ReadJr3Pm

◆ ToJr3PciAddrH

◆ ToJr3PciAddrL

◆ VENDORID

◆ WriteJr3

◆ WriteJr3Dm

◆ WriteJr3Pm

◆ WriteJr3Pm2

Enumeration Type Documentation

◆ force_units

◆ link_types

Function Documentation

◆ download()

◆ get_force_sensor_info()

◆ io_read()

◆ main()

◆ message_callback()

◆ wait_t()

Variable Documentation

◆ buffer

◆ ConnectFuncs

◆ force_units_str

◆ IoFuncAttr

◆ IoFuncs

◆ Jr3BaseAddress0H

◆ Jr3BaseAddress0L

◆ Jr3BaseAddress1H

◆ Jr3BaseAddress1L

◆ Jr3BaseAddressH

◆ Jr3BaseAddressL

◆ MappedAddress