Supported devices

The driver supports a number of PCI boards including single sensor boards and double sensor board. Currently
devices with following PCI vendor and PCI device numbers were successfully tested:

PCI vendor      PCI device Type
0x1762 0x1111   Single sensor
0x1762 0x3111   Single sensor
0x1762 0x3112   Double sensor

Prerequisites

Before using the driver it is advised to patch kernel with preempt_rt patch. It can be found here. However,
Realtime kernel is not necessary but is still advised for developing realtime applications such as applications
which require communication with hardware to be run in realtime.


Using the driver

Compilation
Before compiling the driver clean the project with:
make clean

After that you can build the project with the following command:
make all

Above will compile the driver and a file jr3pci-driver.ko will be created (a kernel module). Also a simple testing
application, called app, will be also created.

Loading the jr3pci-driver module

Before loading the module into kernel space please remove jr3_pci or any other driver which might use the same
hardware. This driver is available in standard kernel. Removing jr3_pci driver can be done with below command:
rmmod jr3_pci

The driver can be loaded with the following command:
insmod ./jr3-jr3pci-driver.ko

After loading the driver system is creating appropriate entry in /proc/devices file containing major number of the
driver. A new link to the device can be created using mknod command.

Additional scripts

Along with the driver comes a loading script. It is recommended to use this script instead of preparing the driver
manually. The load.sh does the following things:
1. Finding if jr3_pci driver is loaded and removes it.
2. Finding if jr3pci_driver driver is loaded and removes it.
3. Determines number of devices found in the system.
4. Creates character devices for each sensor.

Each device is created in /dev directory with name
/dev/jr3*X*
where X is the numer of next device starting from 0.

Examples
Testing application app is created during the driver compilation. It allows user to test a jr3 device. This program
can be executed in following manner:
./app /dev/jr30 10

This will open /dev/jr30 device and will output 10 measurements with 1 second interval. The application performs
automatic check if device is a single or double sensor board. In later case it will automatically measure second
device jr3 sensor attached to the board.

Ommiting the last argument will cause the application to read data from jr3 sensor indefinitely. Executing the app
without any argument will open the /dev/jr30 by default and start reading force and torque from the jr3 sensor
indefinitely.

API

Along with the driver a simple API for the jr3 sensor boards was created. It allows to open/close the device, send
ioctls to the device and determine if the sensor board is a single sensor board or supports two sensors or one
with 16 DoF.

Through the following commands user can retrieve data or control the jr3 sensor board:

Command Description
IOCTLN_JR3_RESET   reset device
IOCTLN_JR3_FILTER0 read data using no filter
IOCTLN_JR3_FILTER1 read data using filter option number 1
IOCTLN_JR3_FILTER2
IOCTLN_JR3_FILTER3
IOCTLN_JR3_FILTER4
IOCTLN_JR3_FILTER5
IOCTLN_JR3_FILTER6
IOCTLN_JR3_ZEROOFFS clear offsets
IOCTLN_JR3_GET_FULL_SCALES get scaling factors of the device
IOCTLN_JR3_TYPE get board type (single (1) or dual (2) sensor)
where N is a number 0 or 1. If a single sensor board is accessed N=0. However, when the double sensor board is
accessed to read first sensor N=0 and to read second sensor N=1.

Contributors:
Project Manager: Tanya Grinberg
Lead Developer: Wojciech Domski
Systems Architect: Alex Khusidman