Staging: comedi: Replace C99 comments in jr3_pci.h

Signed-off-by: Bill Pemberton <wfp5p@virginia.edu>
Signed-off-by: Greg Kroah-Hartman <gregkh@suse.de>

1 files changed, 429 insertions, 379 deletions

diff --git a/drivers/staging/comedi/drivers/jr3_pci.h b/drivers/staging/comedi/drivers/jr3_pci.h
index 286cdaadfa1c..1b43a2ad7112 100644
--- a/drivers/staging/comedi/drivers/jr3_pci.h
+++ b/drivers/staging/comedi/drivers/jr3_pci.h
@@ -1,5 +1,7 @@
-// Helper types to take care of the fact that the DSP card memory
-//   is 16 bits, but aligned on a 32 bit PCI boundary
+/* Helper types to take care of the fact that the DSP card memory
+ * is 16 bits, but aligned on a 32 bit PCI boundary
+ */
+
 typedef u32 u_val_t;
 
 typedef s32 s_val_t;
@@ -24,31 +26,34 @@ static inline void set_s16(volatile s_val_t * 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.
+/* 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.
+ */
+
 typedef struct raw_channel {
 	u_val_t raw_time;
 	s_val_t raw_data;
 	s_val_t reserved[2];
 } raw_channel_t;
 
-// The force_array structure shows the layout for the decoupled and
-// filtered force data.
+/* The force_array structure shows the layout for the decoupled and
+ * filtered force data.
+ */
 typedef struct force_array {
 	s_val_t fx;
 	s_val_t fy;
@@ -60,8 +65,9 @@ typedef struct force_array {
 	s_val_t v2;
 } force_array_t;
 
-// The six_axis_array structure shows the layout for the offsets and
-// the full scales.
+/* The six_axis_array structure shows the layout for the offsets and
+ * the full scales.
+ */
 typedef struct six_axis_array {
 	s_val_t fx;
 	s_val_t fy;
@@ -71,18 +77,19 @@ typedef struct six_axis_array {
 	s_val_t mz;
 } six_axis_array_t;
 
-// 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 */
+/* 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.
+ */
 
 typedef enum {
 	fx = 0x0001,
@@ -95,13 +102,15 @@ typedef enum {
 	changeV1 = 0x0080
 } vect_bits_t;
 
-// 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.
+/* 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.
+ */
 
 typedef enum {
 	fx_near_sat = 0x0001,
@@ -112,59 +121,64 @@ typedef enum {
 	mz_near_sat = 0x0020
 } warning_bits_t;
 
-// 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.
+/*  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.
+ */
 
 typedef enum {
 	fx_sat = 0x0001,
@@ -181,29 +195,34 @@ typedef enum {
 	watch_dog = 0x8000
 } error_bits_t;
 
-// 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.
+/*  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.
+ */
+
 typedef struct thresh_struct {
 	s32 data_address;
 	s32 threshold;
 	s32 bit_pattern;
 } thresh_struct;
 
-// 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.
+/*  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.
+ */
 typedef struct {
 	s32 latch_bits;
 	s32 number_of_ge_thresholds;
@@ -212,17 +231,19 @@ typedef struct {
 	s32 reserved;
 } le_struct_t;
 
-// 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)
+/*  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)
+ */
+
 typedef enum link_types {
 	end_x_form,
 	tx,
@@ -234,8 +255,8 @@ typedef enum link_types {
 	neg
 } link_types;
 
-// TRANSFORM
-// Structure used to describe a transform.
+/*  TRANSFORM */
+/*  Structure used to describe a transform. */
 typedef struct {
 	struct {
 		u_val_t link_type;
@@ -243,153 +264,163 @@ typedef struct {
 	} link[8];
 } intern_transform_t;
 
-// JR3 force/torque sensor data definition. For more information see sensor and
-// hardware manuals.
+/*  JR3 force/torque sensor data definition. For more information see sensor and */
+/*  hardware manuals. */
 
 typedef struct force_sensor_data {
-	// Raw_channels is the area used to store the raw data coming from
-	// the sensor.
+	/*  Raw_channels is the area used to store the raw data coming from */
+	/*  the sensor. */
 
 	raw_channel_t raw_channels[16];	/* offset 0x0000 */
 
-	// Copyright is a null terminated ASCII string containing the JR3
-	// copyright notice.
+	/*  Copyright is a null terminated ASCII string containing the JR3 */
+	/*  copyright notice. */
 
 	u_val_t copyright[0x0018];	/* offset 0x0040 */
 	s_val_t 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).
+	/* 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).
+	 */
 
 	six_axis_array_t 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.
+	/* Default_FS contains the full scale that is used if the user does */
+	/* not set a full scale. */
 
 	six_axis_array_t default_FS;	/* offset 0x0068 */
 	s_val_t 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.
+	/* 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.
+	 */
 
 	s_val_t 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.
+	/* 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.
+	 */
 
 	six_axis_array_t min_full_scale;	/* offset 0x0070 */
 	s_val_t 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).
+	/* 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).
+	 */
 
 	s_val_t transform_num;	/* offset 0x0077 */
 
-	// Max_full_scale is the recommended maximum full scale. See
-	// min_full_scale (pg. 9) for more details.
+	/*  Max_full_scale is the recommended maximum full scale. See */
+	/*  min_full_scale (pg. 9) for more details. */
 
 	six_axis_array_t max_full_scale;	/* offset 0x0078 */
 	s_val_t 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).
+	/* 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).
+	 */
 
 	s_val_t 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.
+	/* 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.
+	 */
 
 	force_array_t 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.
+	/* 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.
+	 */
 
 	six_axis_array_t 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.
+	/* 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.
+	 */
 
 	s_val_t 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).
+	/* 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).
+	 */
 
 	u_val_t 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.
+	/* 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,
@@ -399,89 +430,95 @@ typedef struct force_sensor_data {
 					   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).
+	/* 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).
+	 */
 
 	force_array_t 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.
+	/* 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.
+	 */
 
 	force_array_t minimum_data;	/* offset 0x00d0 */
 	force_array_t 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)
+	/* 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)
+	 */
 
 	s_val_t near_sat_value;	/* offset 0x00e0 */
 	s_val_t 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.
+	/* 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.
+	 */
 
 	s_val_t rate_address;	/* offset 0x00e2 */
 	u_val_t rate_divisor;	/* offset 0x00e3 */
 	u_val_t 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).
+	/* 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).
+	 */
 
 	s_val_t command_word2;	/* offset 0x00e5 */
 	s_val_t command_word1;	/* offset 0x00e6 */
 	s_val_t 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.
+	/* 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.
+	 */
 
 	u_val_t count1;		/* offset 0x00e8 */
 	u_val_t count2;		/* offset 0x00e9 */
@@ -490,145 +527,158 @@ typedef struct force_sensor_data {
 	u_val_t count5;		/* offset 0x00ec */
 	u_val_t 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.
+	/* 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.
+	 */
 
 	u_val_t 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.
+	/* 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.
+	 */
 
 	u_val_t 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.
+	/* 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.
+	 */
 
 	u_val_t warnings;	/* offset 0x00f0 */
 	u_val_t 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.
+	/* 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.
+	 */
 
 	s_val_t 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.
+	/* 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.
+	 */
 
 	s_val_t 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.
+	/* 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.
+	 */
 
 	s_val_t eeprom_ver_no;	/* offset 0x00f4 */
 	s_val_t 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.
+	/* 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.
+	 */
 
 	s_val_t software_day;	/* offset 0x00f6 */
 	s_val_t 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.
+	/* 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.
+	 */
 
 	u_val_t serial_no;	/* offset 0x00f8 */
 	u_val_t 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.
+	/* 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.
+	 */
 
 	s_val_t cal_day;	/* offset 0x00fa */
 	s_val_t 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.
+	/* 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.
+	 */
 
 	u_val_t units;		/* offset 0x00fc */
 	s_val_t bits;		/* offset 0x00fd */
 	s_val_t 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.
+	/* 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.
+	 */
 
 	s_val_t 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).
+	/* 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).
+	 */
 
 	le_struct_t 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).
+	/* 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).
+	 */
 
 	intern_transform_t transforms[0x10];	/* offset 0x0200 */
 } jr3_channel_t;
 
 typedef struct {
 	struct {
-		u_val_t program_low[0x4000];	// 0x00000 - 0x10000
-		jr3_channel_t data;	// 0x10000 - 0x10c00
-		char pad2[0x30000 - 0x00c00];	// 0x10c00 - 0x40000
-		u_val_t program_high[0x8000];	// 0x40000 - 0x60000
-		u32 reset;	// 0x60000 - 0x60004
-		char pad3[0x20000 - 0x00004];	// 0x60004 - 0x80000
+		u_val_t program_low[0x4000];	/*  0x00000 - 0x10000 */
+		jr3_channel_t data;	/*  0x10000 - 0x10c00 */
+		char pad2[0x30000 - 0x00c00];	/*  0x10c00 - 0x40000 */
+		u_val_t program_high[0x8000];	/*  0x40000 - 0x60000 */
+		u32 reset;	/*  0x60000 - 0x60004 */
+		char pad3[0x20000 - 0x00004];	/*  0x60004 - 0x80000 */
 	} channel[4];
 } jr3_t;