text: /* Helper types to take care of the fact that the DSP card memory
   * is 16 bits, but aligned on a 32 bit PCI boundary
   */
  
  static inline u16 get_u16(const u32 __iomem *p)
  {
  	return (u16)readl(p);
  }
  
  static inline void set_u16(u32 __iomem *p, u16 val)
  {
  	writel(val, p);
  }
  
  static inline s16 get_s16(const s32 __iomem *p)
  {
  	return (s16)readl(p);
  }
  
  static inline void set_s16(s32 __iomem *p, s16 val)
  {
  	writel(val, p);
  }
  
  /* The raw data is stored in a format which facilitates rapid
   * processing by the JR3 DSP chip. The raw_channel structure shows the
   * format for a single channel of data. Each channel takes four,
   * two-byte words.
   *
   * Raw_time is an unsigned integer which shows the value of the JR3
   * DSP's internal clock at the time the sample was received. The clock
   * runs at 1/10 the JR3 DSP cycle time. JR3's slowest DSP runs at 10
   * Mhz. At 10 Mhz raw_time would therefore clock at 1 Mhz.
   *
   * Raw_data is the raw data received directly from the sensor. The
   * sensor data stream is capable of representing 16 different
   * channels. Channel 0 shows the excitation voltage at the sensor. It
   * is used to regulate the voltage over various cable lengths.
   * Channels 1-6 contain the coupled force data Fx through Mz. Channel
   * 7 contains the sensor's calibration data. The use of channels 8-15
   * varies with different sensors.
   */
  
  struct raw_channel {
  	u32 raw_time;
  	s32 raw_data;
  	s32 reserved[2];
  };
  
  /* The force_array structure shows the layout for the decoupled and
   * filtered force data.
   */
  struct force_array {
  	s32 fx;
  	s32 fy;
  	s32 fz;
  	s32 mx;
  	s32 my;
  	s32 mz;
  	s32 v1;
  	s32 v2;
  };
  
  /* The six_axis_array structure shows the layout for the offsets and
   * the full scales.
   */
  struct six_axis_array {
  	s32 fx;
  	s32 fy;
  	s32 fz;
  	s32 mx;
  	s32 my;
  	s32 mz;
  };
  
  /* VECT_BITS */
  /* The vect_bits structure shows the layout for indicating
   * which axes to use in computing the vectors. Each bit signifies
   * selection of a single axis. The V1x axis bit corresponds to a hex
   * value of 0x0001 and the V2z bit corresponds to a hex value of
   * 0x0020. Example: to specify the axes V1x, V1y, V2x, and V2z the
   * pattern would be 0x002b. Vector 1 defaults to a force vector and
   * vector 2 defaults to a moment vector. It is possible to change one
   * or the other so that two force vectors or two moment vectors are
   * calculated. Setting the changeV1 bit or the changeV2 bit will
   * change that vector to be the opposite of its default. Therefore to
   * have two force vectors, set changeV1 to 1.
   */
  
  /* vect_bits appears to be unused at this time */
  enum {
  	fx = 0x0001,
  	fy = 0x0002,
  	fz = 0x0004,
  	mx = 0x0008,
  	my = 0x0010,
  	mz = 0x0020,
  	changeV2 = 0x0040,
  	changeV1 = 0x0080
  };
  
  /* WARNING_BITS */
  /* The warning_bits structure shows the bit pattern for the warning
   * word. The bit fields are shown from bit 0 (lsb) to bit 15 (msb).
   */
  
  /*  XX_NEAR_SET */
  /* The xx_near_sat bits signify that the indicated axis has reached or
   * exceeded the near saturation value.
   */
  
  enum {
  	fx_near_sat = 0x0001,
  	fy_near_sat = 0x0002,
  	fz_near_sat = 0x0004,
  	mx_near_sat = 0x0008,
  	my_near_sat = 0x0010,
  	mz_near_sat = 0x0020
  };
  
  /*  ERROR_BITS */
  /*  XX_SAT */
  /*  MEMORY_ERROR */
  /*  SENSOR_CHANGE */
  
  /* The error_bits structure shows the bit pattern for the error word.
   * The bit fields are shown from bit 0 (lsb) to bit 15 (msb). The
   * xx_sat bits signify that the indicated axis has reached or exceeded
   * the saturation value. The memory_error bit indicates that a problem
   * was detected in the on-board RAM during the power-up
   * initialization. The sensor_change bit indicates that a sensor other
   * than the one originally plugged in has passed its CRC check. This
   * bit latches, and must be reset by the user.
   *
   */
  
  /*  SYSTEM_BUSY */
  
  /* The system_busy bit indicates that the JR3 DSP is currently busy
   * and is not calculating force data. This occurs when a new
   * coordinate transformation, or new sensor full scale is set by the
   * user. A very fast system using the force data for feedback might
   * become unstable during the approximately 4 ms needed to accomplish
   * these calculations. This bit will also become active when a new
   * sensor is plugged in and the system needs to recalculate the
   * calibration CRC.
   */
  
  /*  CAL_CRC_BAD */
  
  /* The cal_crc_bad bit indicates that the calibration CRC has not
   * calculated to zero. CRC is short for cyclic redundancy code. It is
   * a method for determining the integrity of messages in data
   * communication. The calibration data stored inside the sensor is
   * transmitted to the JR3 DSP along with the sensor data. The
   * calibration data has a CRC attached to the end of it, to assist in
   * determining the completeness and integrity of the calibration data
   * received from the sensor. There are two reasons the CRC may not
   * have calculated to zero. The first is that all the calibration data
   * has not yet been received, the second is that the calibration data
   * has been corrupted. A typical sensor transmits the entire contents
   * of its calibration matrix over 30 times a second. Therefore, if
   * this bit is not zero within a couple of seconds after the sensor
   * has been plugged in, there is a problem with the sensor's
   * calibration data.
   */
  
  /* WATCH_DOG */
  /* WATCH_DOG2 */
  
  /* The watch_dog and watch_dog2 bits are sensor, not processor, watch
   * dog bits. Watch_dog indicates that the sensor data line seems to be
   * acting correctly, while watch_dog2 indicates that sensor data and
   * clock are being received. It is possible for watch_dog2 to go off
   * while watch_dog does not. This would indicate an improper clock
   * signal, while data is acting correctly. If either watch dog barks,
   * the sensor data is not being received correctly.
   */
  
  enum error_bits_t {
  	fx_sat = 0x0001,
  	fy_sat = 0x0002,
  	fz_sat = 0x0004,
  	mx_sat = 0x0008,
  	my_sat = 0x0010,
  	mz_sat = 0x0020,
  	memory_error = 0x0400,
  	sensor_change = 0x0800,
  	system_busy = 0x1000,
  	cal_crc_bad = 0x2000,
  	watch_dog2 = 0x4000,
  	watch_dog = 0x8000
  };
  
  /*  THRESH_STRUCT */
  
  /* This structure shows the layout for a single threshold packet inside of a
   * load envelope. Each load envelope can contain several threshold structures.
   * 1. data_address contains the address of the data for that threshold. This
   *    includes filtered, unfiltered, raw, rate, counters, error and warning data
   * 2. threshold is the is the value at which, if data is above or below, the
   *    bits will be set ... (pag.24).
   * 3. bit_pattern contains the bits that will be set if the threshold value is
   *    met or exceeded.
   */
  
  struct thresh_struct {
  	s32 data_address;
  	s32 threshold;
  	s32 bit_pattern;
  };
  
  /*  LE_STRUCT */
  
  /* Layout of a load enveloped packet. Four thresholds are showed ... for more
   * see manual (pag.25)
   * 1. latch_bits is a bit pattern that show which bits the user wants to latch.
   *    The latched bits will not be reset once the threshold which set them is
   *    no longer true. In that case the user must reset them using the reset_bit
   *    command.
   * 2. number_of_xx_thresholds specify how many GE/LE threshold there are.
   */
  struct le_struct {
  	s32 latch_bits;
  	s32 number_of_ge_thresholds;
  	s32 number_of_le_thresholds;
  	struct thresh_struct thresholds[4];
  	s32 reserved;
  };
  
  /*  LINK_TYPES */
  /* Link types is an enumerated value showing the different possible transform
   * link types.
   * 0 - end transform packet
   * 1 - translate along X axis (TX)
   * 2 - translate along Y axis (TY)
   * 3 - translate along Z axis (TZ)
   * 4 - rotate about X axis (RX)
   * 5 - rotate about Y axis (RY)
   * 6 - rotate about Z axis (RZ)
   * 7 - negate all axes (NEG)
   */
  
  enum link_types {
  	end_x_form,
  	tx,
  	ty,
  	tz,
  	rx,
  	ry,
  	rz,
  	neg
  };
  
  /*  TRANSFORM */
  /*  Structure used to describe a transform. */
  struct intern_transform {
  	struct {
  		u32 link_type;
  		s32 link_amount;
  	} link[8];
  };
  
  /*  JR3 force/torque sensor data definition. For more information see sensor
   *  and hardware manuals.
   */
  
  struct jr3_channel {
  	/*  Raw_channels is the area used to store the raw data coming from */
  	/*  the sensor. */
  
  	struct raw_channel raw_channels[16];	/* offset 0x0000 */
  
  	/*  Copyright is a null terminated ASCII string containing the JR3 */
  	/*  copyright notice. */
  
  	u32 copyright[0x0018];	/* offset 0x0040 */
  	s32 reserved1[0x0008];	/* offset 0x0058 */
  
  	/* Shunts contains the sensor shunt readings. Some JR3 sensors have
  	 * the ability to have their gains adjusted. This allows the
  	 * hardware full scales to be adjusted to potentially allow
  	 * better resolution or dynamic range. For sensors that have
  	 * this ability, the gain of each sensor channel is measured at
  	 * the time of calibration using a shunt resistor. The shunt
  	 * resistor is placed across one arm of the resistor bridge, and
  	 * the resulting change in the output of that channel is
  	 * measured. This measurement is called the shunt reading, and
  	 * is recorded here. If the user has changed the gain of the //
  	 * sensor, and made new shunt measurements, those shunt
  	 * measurements can be placed here. The JR3 DSP will then scale
  	 * the calibration matrix such so that the gains are again
  	 * proper for the indicated shunt readings. If shunts is 0, then
  	 * the sensor cannot have its gain changed. For details on
  	 * changing the sensor gain, and making shunts readings, please
  	 * see the sensor manual. To make these values take effect the
  	 * user must call either command (5) use transform # (pg. 33) or
  	 * command (10) set new full scales (pg. 38).
  	 */
  
  	struct six_axis_array shunts;	/* offset 0x0060 */
  	s32 reserved2[2];	/* offset 0x0066 */
  
  	/* Default_FS contains the full scale that is used if the user does */
  	/* not set a full scale. */
  
  	struct six_axis_array default_FS;	/* offset 0x0068 */
  	s32 reserved3;		/* offset 0x006e */
  
  	/* Load_envelope_num is the load envelope number that is currently
  	 * in use. This value is set by the user after one of the load
  	 * envelopes has been initialized.
  	 */
  
  	s32 load_envelope_num;	/* offset 0x006f */
  
  	/* Min_full_scale is the recommend minimum full scale. */
  
  	/* These values in conjunction with max_full_scale (pg. 9) helps
  	 * determine the appropriate value for setting the full scales. The
  	 * software allows the user to set the sensor full scale to an
  	 * arbitrary value. But setting the full scales has some hazards. If
  	 * the full scale is set too low, the data will saturate
  	 * prematurely, and dynamic range will be lost. If the full scale is
  	 * set too high, then resolution is lost as the data is shifted to
  	 * the right and the least significant bits are lost. Therefore the
  	 * maximum full scale is the maximum value at which no resolution is
  	 * lost, and the minimum full scale is the value at which the data
  	 * will not saturate prematurely. These values are calculated
  	 * whenever a new coordinate transformation is calculated. It is
  	 * possible for the recommended maximum to be less than the
  	 * recommended minimum. This comes about primarily when using
  	 * coordinate translations. If this is the case, it means that any
  	 * full scale selection will be a compromise between dynamic range
  	 * and resolution. It is usually recommended to compromise in favor
  	 * of resolution which means that the recommend maximum full scale
  	 * should be chosen.
  	 *
  	 * WARNING: Be sure that the full scale is no less than 0.4% of the
  	 * recommended minimum full scale. Full scales below this value will
  	 * cause erroneous results.
  	 */
  
  	struct six_axis_array min_full_scale;	/* offset 0x0070 */
  	s32 reserved4;		/* offset 0x0076 */
  
  	/* Transform_num is the transform number that is currently in use.
  	 * This value is set by the JR3 DSP after the user has used command
  	 * (5) use transform # (pg. 33).
  	 */
  
  	s32 transform_num;	/* offset 0x0077 */
  
  	/*  Max_full_scale is the recommended maximum full scale. See */
  	/*  min_full_scale (pg. 9) for more details. */
  
  	struct six_axis_array max_full_scale;	/* offset 0x0078 */
  	s32 reserved5;		/* offset 0x007e */
  
  	/* Peak_address is the address of the data which will be monitored
  	 * by the peak routine. This value is set by the user. The peak
  	 * routine will monitor any 8 contiguous addresses for peak values.
  	 * (ex. to watch filter3 data for peaks, set this value to 0x00a8).
  	 */
  
  	s32 peak_address;	/* offset 0x007f */
  
  	/* Full_scale is the sensor full scales which are currently in use.
  	 * Decoupled and filtered data is scaled so that +/- 16384 is equal
  	 * to the full scales. The engineering units used are indicated by
  	 * the units value discussed on page 16. The full scales for Fx, Fy,
  	 * Fz, Mx, My and Mz can be written by the user prior to calling
  	 * command (10) set new full scales (pg. 38). The full scales for V1
  	 * and V2 are set whenever the full scales are changed or when the
  	 * axes used to calculate the vectors are changed. The full scale of
  	 * V1 and V2 will always be equal to the largest full scale of the
  	 * axes used for each vector respectively.
  	 */
  
  	struct force_array full_scale;	/* offset 0x0080 */
  
  	/* Offsets contains the sensor offsets. These values are subtracted from
  	 * the sensor data to obtain the decoupled data. The offsets are set a
  	 * few seconds (< 10) after the calibration data has been received.
  	 * They are set so that the output data will be zero. These values
  	 * can be written as well as read. The JR3 DSP will use the values
  	 * written here within 2 ms of being written. To set future
  	 * decoupled data to zero, add these values to the current decoupled
  	 * data values and place the sum here. The JR3 DSP will change these
  	 * values when a new transform is applied. So if the offsets are
  	 * such that FX is 5 and all other values are zero, after rotating
  	 * about Z by 90 degrees, FY would be 5 and all others would be zero.
  	 */
  
  	struct six_axis_array offsets;	/* offset 0x0088 */
  
  	/* Offset_num is the number of the offset currently in use. This
  	 * value is set by the JR3 DSP after the user has executed the use
  	 * offset # command (pg. 34). It can vary between 0 and 15.
  	 */
  
  	s32 offset_num;		/* offset 0x008e */
  
  	/* Vect_axes is a bit map showing which of the axes are being used
  	 * in the vector calculations. This value is set by the JR3 DSP
  	 * after the user has executed the set vector axes command (pg. 37).
  	 */
  
  	u32 vect_axes;		/* offset 0x008f */
  
  	/* Filter0 is the decoupled, unfiltered data from the JR3 sensor.
  	 * This data has had the offsets removed.
  	 *
  	 * These force_arrays hold the filtered data. The decoupled data is
  	 * passed through cascaded low pass filters. Each succeeding filter
  	 * has a cutoff frequency of 1/4 of the preceding filter. The cutoff
  	 * frequency of filter1 is 1/16 of the sample rate from the sensor.
  	 * For a typical sensor with a sample rate of 8 kHz, the cutoff
  	 * frequency of filter1 would be 500 Hz. The following filters would
  	 * cutoff at 125 Hz, 31.25 Hz, 7.813 Hz, 1.953 Hz and 0.4883 Hz.
  	 */
  
  	struct force_array filter[7];	/* offset 0x0090,
  					   offset 0x0098,
  					   offset 0x00a0,
  					   offset 0x00a8,
  					   offset 0x00b0,
  					   offset 0x00b8 ,
  					   offset 0x00c0 */
  
  	/* Rate_data is the calculated rate data. It is a first derivative
  	 * calculation. It is calculated at a frequency specified by the
  	 * variable rate_divisor (pg. 12). The data on which the rate is
  	 * calculated is specified by the variable rate_address (pg. 12).
  	 */
  
  	struct force_array rate_data;	/* offset 0x00c8 */
  
  	/* Minimum_data & maximum_data are the minimum and maximum (peak)
  	 * data values. The JR3 DSP can monitor any 8 contiguous data items
  	 * for minimums and maximums at full sensor bandwidth. This area is
  	 * only updated at user request. This is done so that the user does
  	 * not miss any peaks. To read the data, use either the read peaks
  	 * command (pg. 40), or the read and reset peaks command (pg. 39).
  	 * The address of the data to watch for peaks is stored in the
  	 * variable peak_address (pg. 10). Peak data is lost when executing
  	 * a coordinate transformation or a full scale change. Peak data is
  	 * also lost when plugging in a new sensor.
  	 */
  
  	struct force_array minimum_data;	/* offset 0x00d0 */
  	struct force_array maximum_data;	/* offset 0x00d8 */
  
  	/* Near_sat_value & sat_value contain the value used to determine if
  	 * the raw sensor is saturated. Because of decoupling and offset
  	 * removal, it is difficult to tell from the processed data if the
  	 * sensor is saturated. These values, in conjunction with the error
  	 * and warning words (pg. 14), provide this critical information.
  	 * These two values may be set by the host processor. These values
  	 * are positive signed values, since the saturation logic uses the
  	 * absolute values of the raw data. The near_sat_value defaults to
  	 * approximately 80% of the ADC's full scale, which is 26214, while
  	 * sat_value defaults to the ADC's full scale:
  	 *
  	 *   sat_value = 32768 - 2^(16 - ADC bits)
  	 */
  
  	s32 near_sat_value;	/* offset 0x00e0 */
  	s32 sat_value;		/* offset 0x00e1 */
  
  	/* Rate_address, rate_divisor & rate_count contain the data used to
  	 * control the calculations of the rates. Rate_address is the
  	 * address of the data used for the rate calculation. The JR3 DSP
  	 * will calculate rates for any 8 contiguous values (ex. to
  	 * calculate rates for filter3 data set rate_address to 0x00a8).
  	 * Rate_divisor is how often the rate is calculated. If rate_divisor
  	 * is 1, the rates are calculated at full sensor bandwidth. If
  	 * rate_divisor is 200, rates are calculated every 200 samples.
  	 * Rate_divisor can be any value between 1 and 65536. Set
  	 * rate_divisor to 0 to calculate rates every 65536 samples.
  	 * Rate_count starts at zero and counts until it equals
  	 * rate_divisor, at which point the rates are calculated, and
  	 * rate_count is reset to 0. When setting a new rate divisor, it is
  	 * a good idea to set rate_count to one less than rate divisor. This
  	 * will minimize the time necessary to start the rate calculations.
  	 */
  
  	s32 rate_address;	/* offset 0x00e2 */
  	u32 rate_divisor;	/* offset 0x00e3 */
  	u32 rate_count;		/* offset 0x00e4 */
  
  	/* Command_word2 through command_word0 are the locations used to
  	 * send commands to the JR3 DSP. Their usage varies with the command
  	 * and is detailed later in the Command Definitions section (pg.
  	 * 29). In general the user places values into various memory
  	 * locations, and then places the command word into command_word0.
  	 * The JR3 DSP will process the command and place a 0 into
  	 * command_word0 to indicate successful completion. Alternatively
  	 * the JR3 DSP will place a negative number into command_word0 to
  	 * indicate an error condition. Please note the command locations
  	 * are numbered backwards. (I.E. command_word2 comes before
  	 * command_word1).
  	 */
  
  	s32 command_word2;	/* offset 0x00e5 */
  	s32 command_word1;	/* offset 0x00e6 */
  	s32 command_word0;	/* offset 0x00e7 */
  
  	/* Count1 through count6 are unsigned counters which are incremented
  	 * every time the matching filters are calculated. Filter1 is
  	 * calculated at the sensor data bandwidth. So this counter would
  	 * increment at 8 kHz for a typical sensor. The rest of the counters
  	 * are incremented at 1/4 the interval of the counter immediately
  	 * preceding it, so they would count at 2 kHz, 500 Hz, 125 Hz etc.
  	 * These counters can be used to wait for data. Each time the
  	 * counter changes, the corresponding data set can be sampled, and
  	 * this will insure that the user gets each sample, once, and only
  	 * once.
  	 */
  
  	u32 count1;		/* offset 0x00e8 */
  	u32 count2;		/* offset 0x00e9 */
  	u32 count3;		/* offset 0x00ea */
  	u32 count4;		/* offset 0x00eb */
  	u32 count5;		/* offset 0x00ec */
  	u32 count6;		/* offset 0x00ed */
  
  	/* Error_count is a running count of data reception errors. If this
  	 * counter is changing rapidly, it probably indicates a bad sensor
  	 * cable connection or other hardware problem. In most installations
  	 * error_count should not change at all. But it is possible in an
  	 * extremely noisy environment to experience occasional errors even
  	 * without a hardware problem. If the sensor is well grounded, this
  	 * is probably unavoidable in these environments. On the occasions
  	 * where this counter counts a bad sample, that sample is ignored.
  	 */
  
  	u32 error_count;	/* offset 0x00ee */
  
  	/* Count_x is a counter which is incremented every time the JR3 DSP
  	 * searches its job queues and finds nothing to do. It indicates the
  	 * amount of idle time the JR3 DSP has available. It can also be
  	 * used to determine if the JR3 DSP is alive. See the Performance
  	 * Issues section on pg. 49 for more details.
  	 */
  
  	u32 count_x;		/* offset 0x00ef */
  
  	/* Warnings & errors contain the warning and error bits
  	 * respectively. The format of these two words is discussed on page
  	 * 21 under the headings warnings_bits and error_bits.
  	 */
  
  	u32 warnings;		/* offset 0x00f0 */
  	u32 errors;		/* offset 0x00f1 */
  
  	/* Threshold_bits is a word containing the bits that are set by the
  	 * load envelopes. See load_envelopes (pg. 17) and thresh_struct
  	 * (pg. 23) for more details.
  	 */
  
  	s32 threshold_bits;	/* offset 0x00f2 */
  
  	/* Last_crc is the value that shows the actual calculated CRC. CRC
  	 * is short for cyclic redundancy code. It should be zero. See the
  	 * description for cal_crc_bad (pg. 21) for more information.
  	 */
  
  	s32 last_CRC;		/* offset 0x00f3 */
  
  	/* EEProm_ver_no contains the version number of the sensor EEProm.
  	 * EEProm version numbers can vary between 0 and 255.
  	 * Software_ver_no contains the software version number. Version
  	 * 3.02 would be stored as 302.
  	 */
  
  	s32 eeprom_ver_no;	/* offset 0x00f4 */
  	s32 software_ver_no;	/* offset 0x00f5 */
  
  	/* Software_day & software_year are the release date of the software
  	 * the JR3 DSP is currently running. Day is the day of the year,
  	 * with January 1 being 1, and December 31, being 365 for non leap
  	 * years.
  	 */
  
  	s32 software_day;	/* offset 0x00f6 */
  	s32 software_year;	/* offset 0x00f7 */
  
  	/* Serial_no & model_no are the two values which uniquely identify a
  	 * sensor. This model number does not directly correspond to the JR3
  	 * model number, but it will provide a unique identifier for
  	 * different sensor configurations.
  	 */
  
  	u32 serial_no;		/* offset 0x00f8 */
  	u32 model_no;		/* offset 0x00f9 */
  
  	/* Cal_day & cal_year are the sensor calibration date. Day is the
  	 * day of the year, with January 1 being 1, and December 31, being
  	 * 366 for leap years.
  	 */
  
  	s32 cal_day;		/* offset 0x00fa */
  	s32 cal_year;		/* offset 0x00fb */
  
  	/* Units is an enumerated read only value defining the engineering
  	 * units used in the sensor full scale. The meanings of particular
  	 * values are discussed in the section detailing the force_units
  	 * structure on page 22. The engineering units are setto customer
  	 * specifications during sensor manufacture and cannot be changed by
  	 * writing to Units.
  	 *
  	 * Bits contains the number of bits of resolution of the ADC
  	 * currently in use.
  	 *
  	 * Channels is a bit field showing which channels the current sensor
  	 * is capable of sending. If bit 0 is active, this sensor can send
  	 * channel 0, if bit 13 is active, this sensor can send channel 13,
  	 * etc. This bit can be active, even if the sensor is not currently
  	 * sending this channel. Some sensors are configurable as to which
  	 * channels to send, and this field only contains information on the
  	 * channels available to send, not on the current configuration. To
  	 * find which channels are currently being sent, monitor the
  	 * Raw_time fields (pg. 19) in the raw_channels array (pg. 7). If
  	 * the time is changing periodically, then that channel is being
  	 * received.
  	 */
  
  	u32 units;		/* offset 0x00fc */
  	s32 bits;		/* offset 0x00fd */
  	s32 channels;		/* offset 0x00fe */
  
  	/* Thickness specifies the overall thickness of the sensor from
  	 * flange to flange. The engineering units for this value are
  	 * contained in units (pg. 16). The sensor calibration is relative
  	 * to the center of the sensor. This value allows easy coordinate
  	 * transformation from the center of the sensor to either flange.
  	 */
  
  	s32 thickness;		/* offset 0x00ff */
  
  	/* Load_envelopes is a table containing the load envelope
  	 * descriptions. There are 16 possible load envelope slots in the
  	 * table. The slots are on 16 word boundaries and are numbered 0-15.
  	 * Each load envelope needs to start at the beginning of a slot but
  	 * need not be fully contained in that slot. That is to say that a
  	 * single load envelope can be larger than a single slot. The
  	 * software has been tested and ran satisfactorily with 50
  	 * thresholds active. A single load envelope this large would take
  	 * up 5 of the 16 slots. The load envelope data is laid out in an
  	 * order that is most efficient for the JR3 DSP. The structure is
  	 * detailed later in the section showing the definition of the
  	 * le_struct structure (pg. 23).
  	 */
  
  	struct le_struct load_envelopes[0x10];	/* offset 0x0100 */
  
  	/* Transforms is a table containing the transform descriptions.
  	 * There are 16 possible transform slots in the table. The slots are
  	 * on 16 word boundaries and are numbered 0-15. Each transform needs
  	 * to start at the beginning of a slot but need not be fully
  	 * contained in that slot. That is to say that a single transform
  	 * can be larger than a single slot. A transform is 2 * no of links
  	 * + 1 words in length. So a single slot can contain a transform
  	 * with 7 links. Two slots can contain a transform that is 15 links.
  	 * The layout is detailed later in the section showing the
  	 * definition of the transform structure (pg. 26).
  	 */
  
  	struct intern_transform transforms[0x10];	/* offset 0x0200 */
  };
  
  struct jr3_t {
  	struct {
  		u32 program_lo[0x4000];		/*  0x00000 - 0x10000 */
  		struct jr3_channel data;	/*  0x10000 - 0x10c00 */
  		char pad2[0x30000 - 0x00c00];	/*  0x10c00 - 0x40000 */
  		u32 program_hi[0x8000];		/*  0x40000 - 0x60000 */
  		u32 reset;			/*  0x60000 - 0x60004 */
  		char pad3[0x20000 - 0x00004];	/*  0x60004 - 0x80000 */
  	} channel[4];
  };
  