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rtmouse.c
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/*
*
* rtmouse.c
* Raspberry Pi Mouse device driver
*
* Version: 3.2.0
*
* Copyright (C) 2015-2021 RT Corporation <[email protected]>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; version 2.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301, USA.
*/
#include <linux/cdev.h>
#include <linux/delay.h>
#include <linux/device.h>
#include <linux/errno.h>
#include <linux/fs.h>
#include <linux/i2c.h>
#include <linux/iio/iio.h>
#include <linux/init.h>
#include <linux/io.h>
#include <linux/ioport.h>
#include <linux/kdev_t.h>
#include <linux/kernel.h>
#include <linux/module.h>
#include <linux/moduleparam.h>
#include <linux/mutex.h>
#include <linux/sched.h>
#include <linux/slab.h>
#include <linux/spi/spi.h>
#include <linux/stat.h>
#include <linux/timer.h>
#include <linux/types.h>
#include <linux/uaccess.h>
#include <linux/version.h>
// define the Raspberry Pi version here
// Raspberry Pi 1 B/A/B+/A+: 1
// Raspberry Pi 2 B : 2
// Raspberry Pi 3 B/A+/B+ : 2
// Raspberry Pi 4 B : 4
#define RASPBERRYPI 2
MODULE_AUTHOR("RT Corporation");
MODULE_LICENSE("GPL");
MODULE_VERSION("3.2.0");
MODULE_DESCRIPTION("Raspberry Pi Mouse device driver");
/* --- Device Numbers --- */
#define NUM_DEV_LED 4
#define NUM_DEV_SWITCH 3
#define NUM_DEV_SENSOR 1
#define NUM_DEV_BUZZER 1
#define NUM_DEV_MOTORRAWR 1
#define NUM_DEV_MOTORRAWL 1
#define NUM_DEV_MOTOREN 1
#define NUM_DEV_MOTOR 1
#define NUM_DEV_CNT 2
#define NUM_DEV_TOTAL \
(NUM_DEV_LED + NUM_DEV_SWITCH + NUM_DEV_BUZZER + NUM_DEV_MOTORRAWR + \
NUM_DEV_MOTORRAWL + NUM_DEV_MOTOREN + NUM_DEV_SENSOR + NUM_DEV_MOTOR)
/* --- Device Names --- */
#define DEVNAME_LED "rtled"
#define DEVNAME_SWITCH "rtswitch"
#define DEVNAME_BUZZER "rtbuzzer"
#define DEVNAME_MOTORRAWR "rtmotor_raw_r"
#define DEVNAME_MOTORRAWL "rtmotor_raw_l"
#define DEVNAME_MOTOREN "rtmotoren"
#define DEVNAME_MOTOR "rtmotor"
#define DEVNAME_SENSOR "rtlightsensor"
#define DEVNAME_CNTR "rtcounter_r"
#define DEVNAME_CNTL "rtcounter_l"
#define DRIVER_NAME "rtmouse"
/* --- Device Major and Minor Numbers --- */
#define DEV_MAJOR 0
#define DEV_MINOR 0
static int spi_bus_num = 0;
static int spi_chip_select = 0;
static int _major_led = DEV_MAJOR;
static int _minor_led = DEV_MINOR;
static int _major_switch = DEV_MAJOR;
static int _minor_switch = DEV_MINOR;
static int _major_sensor = DEV_MAJOR;
static int _minor_sensor = DEV_MINOR;
static int _major_buzzer = DEV_MAJOR;
static int _minor_buzzer = DEV_MINOR;
static int _major_motorrawr = DEV_MAJOR;
static int _minor_motorrawr = DEV_MINOR;
static int _major_motorrawl = DEV_MAJOR;
static int _minor_motorrawl = DEV_MINOR;
static int _major_motoren = DEV_MAJOR;
static int _minor_motoren = DEV_MINOR;
static int _major_motor = DEV_MAJOR;
static int _minor_motor = DEV_MINOR;
/* --- General Options --- */
static struct cdev *cdev_array = NULL;
static struct class *class_led = NULL;
static struct class *class_buzzer = NULL;
static struct class *class_switch = NULL;
static struct class *class_sensor = NULL;
static struct class *class_motorrawr = NULL;
static struct class *class_motorrawl = NULL;
static struct class *class_motoren = NULL;
static struct class *class_motor = NULL;
static volatile void __iomem *pwm_base;
static volatile void __iomem *clk_base;
static volatile uint32_t *gpio_base;
static volatile int cdev_index = 0;
static struct mutex lock;
/* --- GPIO Pin Definitions --- */
#define R_AD_CH 3
#define L_AD_CH 0
#define RF_AD_CH 2
#define LF_AD_CH 1
#define R_LED_BASE 22
#define L_LED_BASE 4
#define RF_LED_BASE 27
#define LF_LED_BASE 17
#define LED0_BASE 25
#define LED1_BASE 24
#define LED2_BASE 23
#define LED3_BASE 18
#define SW1_PIN 20
#define SW2_PIN 26
#define SW3_PIN 21
#define BUZZER_BASE 19
#define MOTCLK_L_BASE 12
#define MOTDIR_L_BASE 16
#define MOTCLK_R_BASE 13
#define MOTDIR_R_BASE 6
#define MOTEN_BASE 5
#define PWM_ORG0_BASE 40
#define PWM_ORG1_BASE 45
/* --- Register Address --- */
/* Base Addr */
#if RASPBERRYPI == 1
#define RPI_REG_BASE 0x20000000
#elif RASPBERRYPI == 2
#define RPI_REG_BASE 0x3f000000
#elif RASPBERRYPI == 4
#define RPI_REG_BASE 0xfe000000
/* 2711 has a different mechanism for pin pull-up/down/enable */
#define GPPUPPDN0 57 /* Pin pull-up/down for pins 15:0 */
#define GPPUPPDN1 58 /* Pin pull-up/down for pins 31:16 */
#define GPPUPPDN2 59 /* Pin pull-up/down for pins 47:32 */
#define GPPUPPDN3 60 /* Pin pull-up/down for pins 57:48 */
#endif
/* GPIO Addr */
#define RPI_GPIO_OFFSET 0x200000
#define RPI_GPIO_SIZE 0xC0
#define RPI_GPIO_BASE (RPI_REG_BASE + RPI_GPIO_OFFSET)
#define REG_GPIO_NAME "RPi mouse GPIO"
/* Pwm Addr */
#define RPI_PWM_OFFSET 0x20C000
#define RPI_PWM_SIZE 0xC0
#define RPI_PWM_BASE (RPI_REG_BASE + RPI_PWM_OFFSET)
#define REG_PWM_NAME "RPi mouse PWM"
/* Clock Addr */
#define RPI_CLK_OFFSET 0x101000
#define RPI_CLK_SIZE 0x100
#define RPI_CLK_BASE (RPI_REG_BASE + RPI_CLK_OFFSET)
#define REG_CLK_NAME "RPi mouse CLK"
/* --- General Options --- */
/* Clock Offset */
#define CLK_PWM_INDEX 0xa0
#define CLK_PWMDIV_INDEX 0xa4
/* GPIO PUPD select */
#if RASPBERRYPI == 4
#define GPIO_PULLNONE 0x0
#define GPIO_PULLUP 0x1
#define GPIO_PULLDOWN 0x2
#else
#define GPIO_PULLNONE 0x0
#define GPIO_PULLDOWN 0x1
#define GPIO_PULLUP 0x2
#endif
/* GPIO Function */
#define RPI_GPF_INPUT 0x00
#define RPI_GPF_OUTPUT 0x01
#define RPI_GPF_ALT0 0x04
#define RPI_GPF_ALT5 0x02
/* GPIO Register Index */
#define RPI_GPFSEL0_INDEX 0
#define RPI_GPFSEL1_INDEX 1
#define RPI_GPFSEL2_INDEX 2
#define RPI_GPFSEL3_INDEX 3
#define RPI_GPSET0_INDEX 7
#define RPI_GPCLR0_INDEX 10
/* GPIO Mask */
#define RPI_GPIO_P1MASK \
(uint32_t)((0x01 << 2) | (0x01 << 3) | (0x01 << 4) | (0x01 << 7) | \
(0x01 << 8) | (0x01 << 9) | (0x01 << 10) | (0x01 << 11) | \
(0x01 << 14) | (0x01 << 15) | (0x01 << 17) | (0x01 << 18) | \
(0x01 << 22) | (0x01 << 23) | (0x01 << 24) | (0x01 << 25) | \
(0x01 << 27))
#define RPI_GPIO_P2MASK (uint32_t)0xffffffff
/* PWM Index */
#define RPI_PWM_CTRL 0x0
#define RPI_PWM_STA 0x4
#define RPI_PWM_DMAC 0x8
#define RPI_PWM_RNG1 0x10
#define RPI_PWM_DAT1 0x14
#define RPI_PWM_FIF1 0x18
#define RPI_PWM_RNG2 0x20
#define RPI_PWM_DAT2 0x24
#if RASPBERRYPI == 4
#define PWM_BASECLK 27000000
#else
#define PWM_BASECLK 9600000
#endif
/* A/D Parameter */
#define MCP320X_PACKET_SIZE 3
#define MCP320X_DIFF 0
#define MCP320X_SINGLE 1
#define MCP3204_CHANNELS 4
/* I2C Parameter */
#define DEV_ADDR_CNTL 0x10
#define DEV_ADDR_CNTR 0x11
#define CNT_ADDR_MSB 0x10
#define CNT_ADDR_LSB 0x11
/* Motor Parameter */
#define MOTOR_UNCONTROLLABLE_FREQ 5
/* --- Function Declarations --- */
static void set_motor_r_freq(int freq);
static void set_motor_l_freq(int freq);
static int mcp3204_remove(struct spi_device *spi);
static int mcp3204_probe(struct spi_device *spi);
static unsigned int mcp3204_get_value(int channel);
static int rtcnt_i2c_probe(struct i2c_client *client,
const struct i2c_device_id *id);
static int rtcnt_i2c_remove(struct i2c_client *client);
/* --- Variable Type definitions --- */
/* SPI */
struct mcp3204_drvdata {
struct spi_device *spi;
struct mutex lock;
unsigned char tx[MCP320X_PACKET_SIZE] ____cacheline_aligned;
unsigned char rx[MCP320X_PACKET_SIZE] ____cacheline_aligned;
struct spi_transfer xfer ____cacheline_aligned;
struct spi_message msg ____cacheline_aligned;
};
/* --- Static variables --- */
/* SPI device ID */
static struct spi_device_id mcp3204_id[] = {
{"mcp3204", 0},
{},
};
/* SPI Info */
static struct spi_board_info mcp3204_info = {
.modalias = "mcp3204",
.max_speed_hz = 100000,
.bus_num = 0,
.chip_select = 0,
.mode = SPI_MODE_3,
};
/* SPI Dirver Info */
static struct spi_driver mcp3204_driver = {
.driver =
{
.name = DEVNAME_SENSOR,
.owner = THIS_MODULE,
},
.id_table = mcp3204_id,
.probe = mcp3204_probe,
.remove = mcp3204_remove,
};
/* I2C */
struct rtcnt_device_info {
struct cdev cdev;
unsigned int device_major;
unsigned int device_minor;
struct class *device_class;
struct i2c_client *client;
struct mutex lock;
int signed_pulse_count;
int raw_pulse_count;
};
static struct i2c_client *i2c_client_r = NULL;
static struct i2c_client *i2c_client_l = NULL;
static unsigned int motor_l_freq_is_positive = 1;
static unsigned int motor_r_freq_is_positive = 1;
#define SIGNED_COUNT_SIZE 32767
#define MAX_PULSE_COUNT 65535
/* I2C Device ID */
static struct i2c_device_id i2c_counter_id[] = {
{DEVNAME_CNTL, 0},
{DEVNAME_CNTR, 1},
{},
};
/* I2C Dirver Info */
static struct i2c_driver i2c_counter_driver = {
.driver =
{
.name = "rtcounter",
.owner = THIS_MODULE,
},
.id_table = i2c_counter_id,
.probe = rtcnt_i2c_probe,
.remove = rtcnt_i2c_remove,
};
/* -- Device Addition -- */
MODULE_DEVICE_TABLE(spi, mcp3204_id);
MODULE_DEVICE_TABLE(i2c, i2c_counter_id);
/* -- Buffer -- */
#define MAX_BUFLEN 64
// static int buflen = 0;
#define MOTOR_MOTION 0
#if MOTOR_MOTION
/* Variable Type Definition for motor motion */
typedef struct {
signed int r_hz;
signed int l_hz;
unsigned int time;
} t_motor_motion;
#define MAX_MOTORBUFLEN 16
static t_motor_motion motor_motion[MAX_MOTORBUFLEN];
static unsigned int motor_motion_head = 0, motor_motion_tail = 0;
static int motor_motion_push(int r_hz, int l_hz, int time)
{
unsigned int next_tail = motor_motion_tail + 1;
if (next_tail >= MAX_MOTORBUFLEN) {
next_tail = 0;
}
if (next_tail == motor_motion_head) {
return -1;
}
motor_motion[motor_motion_tail].r_hz = r_hz;
motor_motion[motor_motion_tail].l_hz = l_hz;
motor_motion[motor_motion_tail].time = time;
motor_motion_tail = next_tail;
return 0;
}
static int motor_motion_pop(t_motor_motion **ret)
{
unsigned int next_head = motor_motion_head + 1;
if (motor_motion_tail == motor_motion_head) {
return -1;
}
if (next_head >= MAX_MOTORBUFLEN) {
next_head = 0;
}
*ret = (motor_motion + motor_motion_head);
motor_motion_head = next_head;
return 0;
}
#endif
/* --- GPIO Operation --- */
/* getPWMCount function for GPIO Operation */
static int getPWMCount(int freq)
{
if (freq < 1)
return PWM_BASECLK;
if (freq > 10000)
return PWM_BASECLK / 10000;
return PWM_BASECLK / freq;
}
/* set function */
static int rpi_gpio_function_set(int pin, uint32_t func)
{
int index = RPI_GPFSEL0_INDEX + pin / 10;
uint32_t mask = ~(0x7 << ((pin % 10) * 3));
gpio_base[index] =
(gpio_base[index] & mask) | ((func & 0x7) << ((pin % 10) * 3));
return 1;
}
/*set mask and value */
static void rpi_gpio_set32(uint32_t mask, uint32_t val)
{
gpio_base[RPI_GPSET0_INDEX] = val & mask;
}
/* clear mask and value */
static void rpi_gpio_clear32(uint32_t mask, uint32_t val)
{
gpio_base[RPI_GPCLR0_INDEX] = val & mask;
}
/* pwm set function */
static void rpi_pwm_write32(uint32_t offset, uint32_t val)
{
iowrite32(val, pwm_base + offset);
}
/* left motor function */
static void set_motor_l_freq(int freq)
{
int dat;
rpi_gpio_function_set(BUZZER_BASE, RPI_GPF_OUTPUT);
// Reset uncontrollable frequency to zero.
if (abs(freq) < MOTOR_UNCONTROLLABLE_FREQ) {
freq = 0;
}
if (freq == 0) {
rpi_gpio_function_set(MOTCLK_L_BASE, RPI_GPF_OUTPUT);
return;
} else {
rpi_gpio_function_set(MOTCLK_L_BASE, RPI_GPF_ALT0);
}
if (freq > 0) {
motor_l_freq_is_positive = 1;
rpi_gpio_clear32(RPI_GPIO_P2MASK, 1 << MOTDIR_L_BASE);
} else {
motor_l_freq_is_positive = 0;
rpi_gpio_set32(RPI_GPIO_P2MASK, 1 << MOTDIR_L_BASE);
freq = -freq;
}
dat = getPWMCount(freq);
rpi_pwm_write32(RPI_PWM_RNG1, dat);
rpi_pwm_write32(RPI_PWM_DAT1, dat >> 1);
return;
}
/* right motor function */
static void set_motor_r_freq(int freq)
{
int dat;
rpi_gpio_function_set(BUZZER_BASE, RPI_GPF_OUTPUT);
// Reset uncontrollable frequency to zero.
if (abs(freq) < MOTOR_UNCONTROLLABLE_FREQ) {
freq = 0;
}
if (freq == 0) {
rpi_gpio_function_set(MOTCLK_R_BASE, RPI_GPF_OUTPUT);
return;
} else {
rpi_gpio_function_set(MOTCLK_R_BASE, RPI_GPF_ALT0);
}
if (freq > 0) {
motor_r_freq_is_positive = 1;
rpi_gpio_set32(RPI_GPIO_P2MASK, 1 << MOTDIR_R_BASE);
} else {
motor_r_freq_is_positive = 0;
rpi_gpio_clear32(RPI_GPIO_P2MASK, 1 << MOTDIR_R_BASE);
freq = -freq;
}
dat = getPWMCount(freq);
rpi_pwm_write32(RPI_PWM_RNG2, dat);
rpi_pwm_write32(RPI_PWM_DAT2, dat >> 1);
return;
}
/* --- Function for device file operations --- */
/*
* Read Push Switches
* return 0 : device close
*/
static ssize_t sw_read(struct file *filep, char __user *buf, size_t count,
loff_t *f_pos)
{
int buflen = 0;
unsigned char rw_buf[MAX_BUFLEN];
unsigned int ret = 0;
int len;
int index;
unsigned int pin = SW1_PIN;
uint32_t mask;
int minor = *((int *)filep->private_data);
#if RASPBERRYPI == 4
int pullreg = GPPUPPDN1 + (pin >> 4); // SW1, 2, 3 is between GPIO16-31
int pullshift = (pin & 0xf) << 1;
unsigned int pullbits;
unsigned int pull;
#endif
switch (minor) {
case 0:
pin = SW1_PIN;
break;
case 1:
pin = SW2_PIN;
break;
case 2:
pin = SW3_PIN;
break;
default:
return 0;
break;
}
if (*f_pos > 0)
return 0; /* End of file */
#if RASPBERRYPI == 4
pull = GPIO_PULLUP;
pullbits = *(gpio_base + pullreg);
pullbits &= ~(3 << pullshift);
pullbits |= (pull << pullshift);
*(gpio_base + pullreg) = pullbits;
#else
// プルモード (2bit)を書き込む NONE/DOWN/UP
gpio_base[37] = GPIO_PULLUP & 0x3; // GPPUD
// ピンにクロックを供給（前後にウェイト）
msleep(1);
gpio_base[38] = 0x1 << pin; // GPPUDCLK0
msleep(1);
// プルモード・クロック状態をクリアして終了
gpio_base[37] = 0;
gpio_base[38] = 0;
#endif
index = RPI_GPFSEL0_INDEX + pin / 10;
mask = ~(0x7 << ((pin % 10) * 3));
ret = ((gpio_base[13] & (0x01 << pin)) != 0);
sprintf(rw_buf, "%d\n", ret);
buflen = strlen(rw_buf);
count = buflen;
len = buflen;
if (copy_to_user((void *)buf, &rw_buf, count)) {
printk(KERN_INFO "err read buffer from ret %d\n", ret);
printk(KERN_INFO "err read buffer from %s\n", rw_buf);
printk(KERN_INFO "err sample_char_read size(%zu)\n", count);
printk(KERN_INFO "sample_char_read size err(%d)\n", -EFAULT);
return 0;
}
*f_pos += count;
return count;
}
/*
* Read Sensor information
* return 0 : device close
*/
static ssize_t sensor_read(struct file *filep, char __user *buf, size_t count,
loff_t *f_pos)
{
int buflen = 0;
unsigned char rw_buf[MAX_BUFLEN];
unsigned int ret = 0;
int len;
// printk(KERN_INFO "new\n");
int usecs = 30;
int rf = 0, lf = 0, r = 0, l = 0;
int orf = 0, olf = 0, or = 0, ol = 0;
if (*f_pos > 0)
return 0; /* End of file */
/* get values through MCP3204 */
/* Right side */
or = mcp3204_get_value(R_AD_CH);
rpi_gpio_set32(RPI_GPIO_P2MASK, 1 << R_LED_BASE);
udelay(usecs);
r = mcp3204_get_value(R_AD_CH);
rpi_gpio_clear32(RPI_GPIO_P2MASK, 1 << R_LED_BASE);
udelay(usecs);
/* Left side */
ol = mcp3204_get_value(L_AD_CH);
rpi_gpio_set32(RPI_GPIO_P2MASK, 1 << L_LED_BASE);
udelay(usecs);
l = mcp3204_get_value(L_AD_CH);
rpi_gpio_clear32(RPI_GPIO_P2MASK, 1 << L_LED_BASE);
udelay(usecs);
/* Right front side */
orf = mcp3204_get_value(RF_AD_CH);
rpi_gpio_set32(RPI_GPIO_P2MASK, 1 << RF_LED_BASE);
udelay(usecs);
rf = mcp3204_get_value(RF_AD_CH);
rpi_gpio_clear32(RPI_GPIO_P2MASK, 1 << RF_LED_BASE);
udelay(usecs);
/* Left front side */
olf = mcp3204_get_value(LF_AD_CH);
rpi_gpio_set32(RPI_GPIO_P2MASK, 1 << LF_LED_BASE);
udelay(usecs);
lf = mcp3204_get_value(LF_AD_CH);
rpi_gpio_clear32(RPI_GPIO_P2MASK, 1 << LF_LED_BASE);
udelay(usecs);
/* set sensor data to rw_buf(static buffer) */
snprintf(rw_buf, sizeof(rw_buf), "%d %d %d %d\n", rf - orf, r - or,
l - ol, lf - olf);
buflen = strlen(rw_buf);
count = buflen;
len = buflen;
/* copy data to user area */
if (copy_to_user((void *)buf, &rw_buf, count)) {
printk(KERN_INFO "err read buffer from ret %d\n", ret);
printk(KERN_INFO "err read buffer from %s\n", rw_buf);
printk(KERN_INFO "err sample_char_read size(%zu)\n", count);
printk(KERN_INFO "sample_char_read size err(%d)\n", -EFAULT);
return 0;
}
*f_pos += count;
return count;
}
/*
* Turn On LEDs
* return 0 : device close
*/
static int led_put(int ledno)
{
switch (ledno) {
case 0:
rpi_gpio_set32(RPI_GPIO_P2MASK, 1 << LED0_BASE);
break;
case 1:
rpi_gpio_set32(RPI_GPIO_P2MASK, 1 << LED1_BASE);
break;
case 2:
rpi_gpio_set32(RPI_GPIO_P2MASK, 1 << LED2_BASE);
break;
case 3:
rpi_gpio_set32(RPI_GPIO_P2MASK, 1 << LED3_BASE);
break;
}
return 0;
}
/*
* Turn Off LEDs
* return 0 : device close
*/
static int led_del(int ledno)
{
switch (ledno) {
case 0:
rpi_gpio_clear32(RPI_GPIO_P2MASK, 1 << LED0_BASE);
break;
case 1:
rpi_gpio_clear32(RPI_GPIO_P2MASK, 1 << LED1_BASE);
break;
case 2:
rpi_gpio_clear32(RPI_GPIO_P2MASK, 1 << LED2_BASE);
break;
case 3:
rpi_gpio_clear32(RPI_GPIO_P2MASK, 1 << LED3_BASE);
break;
}
return 0;
}
/*
* Initialize buzzer
* return 0 : device close
*/
static int buzzer_init(void)
{
rpi_gpio_function_set(BUZZER_BASE, RPI_GPF_OUTPUT); // io is pwm out
rpi_pwm_write32(RPI_PWM_CTRL, 0x00000000);
udelay(1000);
rpi_pwm_write32(RPI_PWM_CTRL, 0x00008181); // PWM1,2 enable
// printk(KERN_DEBUG "%s: rpi_pwm_ctrl:%08X\n", DRIVER_NAME,
// ioread32(pwm_base + RPI_PWM_CTRL));
return 0;
}
/* --- GPIO mapping for Device Open/Close --- */
/*
* Get gpio addresses and set them to global variables.
* - gpio_base
* - pwm_base
* - clk_base
* - clk_status
*/
static int gpio_map(void)
{
static int clk_status = 1;
#if LINUX_VERSION_CODE <= KERNEL_VERSION(5, 0, 0)
if (gpio_base == NULL) {
gpio_base = ioremap_nocache(RPI_GPIO_BASE, RPI_GPIO_SIZE);
}
if (pwm_base == NULL) {
pwm_base = ioremap_nocache(RPI_PWM_BASE, RPI_PWM_SIZE);
}
if (clk_base == NULL) {
clk_base = ioremap_nocache(RPI_CLK_BASE, RPI_CLK_SIZE);
}
#else
if (gpio_base == NULL) {
gpio_base = ioremap(RPI_GPIO_BASE, RPI_GPIO_SIZE);
}
if (pwm_base == NULL) {
pwm_base = ioremap(RPI_PWM_BASE, RPI_PWM_SIZE);
}
if (clk_base == NULL) {
clk_base = ioremap(RPI_CLK_BASE, RPI_CLK_SIZE);
}
#endif
/* kill */
if (clk_status == 1) {
iowrite32(0x5a000000 | (1 << 5), clk_base + CLK_PWM_INDEX);
udelay(1000);
/* clk set */
iowrite32(0x5a000000 | (2 << 12), clk_base + CLK_PWMDIV_INDEX);
iowrite32(0x5a000011, clk_base + CLK_PWM_INDEX);
udelay(1000); /* wait for 1msec */
clk_status = 0;
}
return 0;
}
/* Unmap GPIO addresses */
static int gpio_unmap(void)
{
iounmap(gpio_base);
iounmap(pwm_base);
iounmap(clk_base);
gpio_base = NULL;
pwm_base = NULL;
clk_base = NULL;
return 0;
}
/* --- Device File Operation --- */
/* Open Device */
static int dev_open(struct inode *inode, struct file *filep)
{
int *minor = (int *)kmalloc(sizeof(int), GFP_KERNEL);
int major = MAJOR(inode->i_rdev);
*minor = MINOR(inode->i_rdev);
filep->private_data = (void *)minor;
if (_major_motor == major) {
printk(KERN_INFO "motor write\n");
}
return 0;
}
/* Close device */
static int dev_release(struct inode *inode, struct file *filep)
{
kfree(filep->private_data);
return 0;
}
static int i2c_dev_open(struct inode *inode, struct file *filep)
{
struct rtcnt_device_info *dev_info;
dev_info = container_of(inode->i_cdev, struct rtcnt_device_info, cdev);
if (dev_info == NULL || dev_info->client == NULL) {
printk(KERN_ERR "%s: i2c dev_open failed.\n", DRIVER_NAME);
}
dev_info->device_minor = MINOR(inode->i_rdev);
filep->private_data = dev_info;
return 0;
}
static int i2c_dev_release(struct inode *inode, struct file *filep)
{
return 0;
}
/* Parse motor command */
static int parseMotorCmd(const char __user *buf, size_t count, int *ret)
{
int r_motor_val, l_motor_val, time_val;
char *newbuf = kmalloc(sizeof(char) * count, GFP_KERNEL);
if (copy_from_user(newbuf, buf, sizeof(char) * count)) {
kfree(newbuf);
return -EFAULT;
}
sscanf(newbuf, "%d%d%d\n", &l_motor_val, &r_motor_val, &time_val);
kfree(newbuf);
mutex_lock(&lock);
set_motor_l_freq(l_motor_val);
set_motor_r_freq(r_motor_val);
msleep_interruptible(time_val);
set_motor_l_freq(0);
set_motor_r_freq(0);
mutex_unlock(&lock);
return count;
}
/*
* led_write - Trun ON/OFF LEDs
* Write function of /dev/rtled
*/
static ssize_t led_write(struct file *filep, const char __user *buf,
size_t count, loff_t *f_pos)
{
char cval;
int ret;
int minor = *((int *)filep->private_data);
if (count > 0) {
if (copy_from_user(&cval, buf, sizeof(char))) {
return -EFAULT;
}
switch (cval) {
case '1':
ret = led_put(minor);
break;
case '0':
ret = led_del(minor);
break;
}
return sizeof(char);
}
return 0;
}
/*
* buzzer_write - Write buzzer frequency
* Write function of /dev/rtbuzzer
*/
static ssize_t buzzer_write(struct file *filep, const char __user *buf,
size_t count, loff_t *f_pos)
{
int ret;
int freq, dat;
ret = kstrtoint_from_user(buf, count, 10, &freq);
if (ret) {
printk(KERN_ERR "%s: error parsing string to int in %s()\n",
DRIVER_NAME, __func__);
return ret;
}
if (freq != 0) {
if (freq < 1) {
freq = 1;
}
if (freq > 20000) {
freq = 20000;
}
rpi_gpio_function_set(BUZZER_BASE,
RPI_GPF_ALT5); // io is pwm out
dat = PWM_BASECLK / freq;
rpi_pwm_write32(RPI_PWM_RNG2, dat);
rpi_pwm_write32(RPI_PWM_DAT2, dat >> 1);
} else {
rpi_gpio_function_set(BUZZER_BASE,
RPI_GPF_OUTPUT); // io is pwm out
}
return count;
}
/*
* rawmotor_l_write - Output frequency to the left motor
* Write function of /dev/rtmotor_raw_l
*/
static ssize_t rawmotor_l_write(struct file *filep, const char __user *buf,
size_t count, loff_t *f_pos)
{
int freq, ret;
ret = kstrtoint_from_user(buf, count, 10, &freq);
if (ret) {
printk(KERN_ERR "%s: error parsing string to int in %s()\n",
DRIVER_NAME, __func__);
return ret;
}
set_motor_l_freq(freq);
return count;
}
/*
* rawmotor_r_write - Output frequency to the right motor
* Write function of /dev/rtmotor_raw_r
*/
static ssize_t rawmotor_r_write(struct file *filep, const char __user *buf,
size_t count, loff_t *f_pos)
{
int freq, ret;
ret = kstrtoint_from_user(buf, count, 10, &freq);
if (ret) {
printk(KERN_ERR "%s: error parsing string to int in %s()\n",
DRIVER_NAME, __func__);
return ret;
}