jr3_pci.h

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/* 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(volatile const u32 * p)
{
    return (u16) readl(p);
}

static inline void set_u16(volatile u32 * p, u16 val)
{
    writel(val, p);
}

static inline s16 get_s16(volatile const s32 * p)
{
    return (s16) readl(p);
}

static inline void set_s16(volatile s32 * 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_low[0x4000];    /*  0x00000 - 0x10000 */
        struct jr3_channel data;    /*  0x10000 - 0x10c00 */
        char pad2[0x30000 - 0x00c00];   /*  0x10c00 - 0x40000 */
        u32 program_high[0x8000];   /*  0x40000 - 0x60000 */
        u32 reset;  /*  0x60000 - 0x60004 */
        char pad3[0x20000 - 0x00004];   /*  0x60004 - 0x80000 */
    } channel[4];
};