#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"
Go to the source code of this file.
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 |
Defines | |
| #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 = "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 |
Define Documentation
| #define DEVICEID 0x3112 /* for 2ch board */ |
Definition at line 34 of file jr3_driver.cpp.
| #define Jr3DmAddrMask 0x6000 |
Definition at line 39 of file jr3_driver.cpp.
| #define Jr3NoAddrMask 0x40000 |
Definition at line 38 of file jr3_driver.cpp.
| #define Jr3ResetAddr 0x18000 |
Definition at line 37 of file jr3_driver.cpp.
| #define ReadJr3 | ( | addr | ) | (ReadJr3Dm((addr) | Jr3DmAddrMask)) |
Definition at line 59 of file jr3_driver.cpp.
| #define ReadJr3Dm | ( | addr | ) | (*(uint16_t volatile *)(ToJr3PciAddrH((addr)))) |
Definition at line 55 of file jr3_driver.cpp.
| #define ReadJr3Pm | ( | addr | ) |
(*(uint16_t volatile *)(ToJr3PciAddrH((addr))) << 8 |\ *(uint8_t volatile *)(ToJr3PciAddrL((addr))))
Definition at line 47 of file jr3_driver.cpp.
| #define ToJr3PciAddrH | ( | addr | ) | (((int)(addr) << 2) + Jr3BaseAddressH) |
Definition at line 43 of file jr3_driver.cpp.
| #define ToJr3PciAddrL | ( | addr | ) | (((int)(addr) << 2) + Jr3BaseAddressL) |
Definition at line 44 of file jr3_driver.cpp.
| #define VENDORID 0x1762 /* Vendor ID of JR3 */ |
Definition at line 31 of file jr3_driver.cpp.
| #define WriteJr3 | ( | addr, | |
| data | |||
| ) | WriteJr3Dm((addr) | Jr3DmAddrMask,data) |
Definition at line 60 of file jr3_driver.cpp.
| #define WriteJr3Dm | ( | addr, | |
| data | |||
| ) | *(int volatile *)(ToJr3PciAddrH((addr))) = (int)(data) |
Definition at line 56 of file jr3_driver.cpp.
| #define WriteJr3Pm | ( | addr, | |
| data | |||
| ) | WriteJr3Pm2((addr),(data) >> 8, (data)) |
Definition at line 52 of file jr3_driver.cpp.
| #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
| 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.
| enum link_types |
Definition at line 206 of file jr3_driver.cpp.
Function Documentation
Definition at line 329 of file jr3_driver.cpp.
| void get_force_sensor_info | ( | force_sensor_data * | data, |
| char * | msg | ||
| ) |
Definition at line 389 of file jr3_driver.cpp.
Definition at line 506 of file jr3_driver.cpp.
| int message_callback | ( | message_context_t * | ctp, |
| int | type, | ||
| unsigned | flags, | ||
| void * | handle | ||
| ) |
Definition at line 430 of file jr3_driver.cpp.
Variable Documentation
Definition at line 25 of file jr3_driver.cpp.
resmgr_connect_funcs_t ConnectFuncs [static] |
Definition at line 62 of file jr3_driver.cpp.
| char* force_units_str[] |
{ (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.
iofunc_attr_t IoFuncAttr [static] |
Definition at line 64 of file jr3_driver.cpp.
resmgr_io_funcs_t IoFuncs [static] |
Definition at line 63 of file jr3_driver.cpp.
| volatile uint32_t Jr3BaseAddress0H |
Definition at line 69 of file jr3_driver.cpp.
| volatile uint32_t Jr3BaseAddress0L |
Definition at line 70 of file jr3_driver.cpp.
| volatile uint32_t Jr3BaseAddress1H |
Definition at line 71 of file jr3_driver.cpp.
| volatile uint32_t Jr3BaseAddress1L |
Definition at line 72 of file jr3_driver.cpp.
| volatile uint32_t Jr3BaseAddressH |
Definition at line 67 of file jr3_driver.cpp.
| volatile uint32_t Jr3BaseAddressL |
Definition at line 68 of file jr3_driver.cpp.
| unsigned long MappedAddress |
Definition at line 40 of file jr3_driver.cpp.