*/
-//#define WK0701_DEBUG
-//#define WK0701_FULL_DEBUG
-#ifdef WK0701_FULL_DEBUG
-#ifndef WK0701_DEBUG
#define WK0701_DEBUG
-#endif
-#endif
#define RESERVE 20000
#define SYNC_PULSE 1306000
MODULE_PARM_DESC(port,
"Parallel port adapter for walkera WK-0701 TX (default is 0)");
-static unsigned char DATA[25];
-static unsigned char counter;
-static struct hrtimer walkera0701_timer;
+/*
+for now, only one device is supported, if somebody need more devices, code
+can be expanded, one struct walkera_dev per device must be allocated and
+set up by walkera0701_connect (release of device by walkera0701_disconnect)
+*/
+
+struct walkera_dev {
+ unsigned char buf[25];
+ u64 irq_time, irq_lasttime;
+ int counter;
+ int ack;
+
+ struct input_dev *input_dev;
+ struct hrtimer timer;
+
+ struct parport *parport;
+ struct pardevice *pardevice;
+};
-static u64 IRQtime, IRQlasttime;
-static int open_counter;
-struct input_dev *input_dev;
-struct parport *walkera0701_parport;
-struct pardevice *walkera0701_pardevice;
+struct walkera_dev w0701_data;
+static struct walkera_dev *w_dev = &w0701_data;
-static inline void walkera0701_parse_frame(void)
+walkera_devstatic inline void walkera0701_parse_frame(struct walkera_dev *w)
{
int i;
- int val1, val2, val3, val4, val5, val6, val7, val8, magic, magic_bit;
+ int val1, val2, val3, val4, val5, val6, val7, val8;
int crc1, crc2;
+
for (crc1 = crc2 = i = 0; i < 10; i++) {
- crc1 += DATA[i] & 7;
- crc2 += (DATA[i] & 8) >> 3;
+ crc1 += w->buf[i] & 7;
+ crc2 += (w->buf[i] & 8) >> 3;
}
- if ((DATA[10] & 7) != (crc1 & 7)) {
-#ifdef WK0701_DEBUG
- printk(KERN_DEBUG "walkera0701: Bad OCT 1-4 checksum\n");
-#endif
+ if ((w->buf[10] & 7) != (crc1 & 7))
return;
- }
- if (((DATA[10] & 8) >> 3) != (((crc1 >> 3) + crc2) & 1)) {
-#ifdef WK0701_DEBUG
- printk(KERN_DEBUG "walkera0701: Bad BIN - OCT 1-4 checksum\n");
-#endif
+ if (((w->buf[10] & 8) >> 3) != (((crc1 >> 3) + crc2) & 1))
return;
- }
for (crc1 = crc2 = 0, i = 11; i < 23; i++) {
- crc1 += DATA[i] & 7;
- crc2 += (DATA[i] & 8) >> 3;
+ crc1 += w->buf[i] & 7;
+ crc2 += (w->buf[i] & 8) >> 3;
}
- if ((DATA[23] & 7) != (crc1 & 7)) {
-#ifdef WK0701_DEBUG
- printk(KERN_DEBUG "walkera0701: Bad OCT 5-8 checksum\n");
-#endif
+ if ((w->buf[23] & 7) != (crc1 & 7))
return;
- }
- if (((DATA[23] & 8) >> 3) != (((crc1 >> 3) + crc2) & 1)) {
-#ifdef WK0701_DEBUG
- printk(KERN_DEBUG "walkera0701: Bad BIN - OCT 5-8 checksum\n");
-#endif
+ if (((w->buf[23] & 8) >> 3) != (((crc1 >> 3) + crc2) & 1))
return;
+ val1 = ((w->buf[0] & 7) * 256 + w->buf[1] * 16 + w->buf[2]) >> 2;
+ val1 *= ((w->buf[0] >> 2) & 2) - 1; /* sign */
+ val2 = (w->buf[2] & 1) << 8 | (w->buf[3] << 4) | w->buf[4];
+ val2 *= (w->buf[2] & 2) - 1; /* sign */
+ val3 = ((w->buf[5] & 7) * 256 + w->buf[6] * 16 + w->buf[7]) >> 2;
+ val3 *= ((w->buf[5] >> 2) & 2) - 1; /* sign */
+ val4 = (w->buf[7] & 1) << 8 | (w->buf[8] << 4) | w->buf[9];
+ val4 *= (w->buf[7] & 2) - 1; /* sign */
+ val5 = ((w->buf[11] & 7) * 256 + w->buf[12] * 16 + w->buf[13]) >> 2;
+ val5 *= ((w->buf[11] >> 2) & 2) - 1; /* sign */
+ val6 = (w->buf[13] & 1) << 8 | (w->buf[14] << 4) | w->buf[15];
+ val6 *= (w->buf[13] & 2) - 1; /* sign */
+ val7 = ((w->buf[16] & 7) * 256 + w->buf[17] * 16 + w->buf[18]) >> 2;
+ val7 *= ((w->buf[16] >> 2) & 2) - 1; /*sign */
+ val8 = (w->buf[18] & 1) << 8 | (w->buf[19] << 4) | w->buf[20];
+ val8 *= (w->buf[18] & 2) - 1; /*sign */
+
+#ifdef WK0701_DEBUG
+ {
+ int magic, magic_bit;
+ magic = (w->buf[21] << 4) | w->buf[22];
+ magic_bit = (w->buf[24] & 8) >> 3;
+ printk(KERN_DEBUG
+ "walkera0701: %4d %4d %4d %4d %4d %4d %4d %4d (magic %2x %d)\n",
+ val1, val2, val3, val4, val5, val6, val7, val8, magic,
+ magic_bit);
}
- val1 = ((DATA[0] & 7) * 256 + DATA[1] * 16 + DATA[2]) >> 2;
- val1 *= ((DATA[0] >> 2) & 2) - 1; //sign
- val2 = (DATA[2] & 1) << 8 | (DATA[3] << 4) | DATA[4];
- val2 *= (DATA[2] & 2) - 1; //sign
- val3 = ((DATA[5] & 7) * 256 + DATA[6] * 16 + DATA[7]) >> 2;
- val3 *= ((DATA[5] >> 2) & 2) - 1; //sign
- val4 = (DATA[7] & 1) << 8 | (DATA[8] << 4) | DATA[9];
- val4 *= (DATA[7] & 2) - 1; //sign
- val5 = ((DATA[11] & 7) * 256 + DATA[12] * 16 + DATA[13]) >> 2;
- val5 *= ((DATA[11] >> 2) & 2) - 1; //sign
- val6 = (DATA[13] & 1) << 8 | (DATA[14] << 4) | DATA[15];
- val6 *= (DATA[13] & 2) - 1; //sign
- val7 = ((DATA[16] & 7) * 256 + DATA[17] * 16 + DATA[18]) >> 2;
- val7 *= ((DATA[16] >> 2) & 2) - 1; //sign
- val8 = (DATA[18] & 1) << 8 | (DATA[19] << 4) | DATA[20];
- val8 *= (DATA[18] & 2) - 1; //sign
-
- magic = (DATA[21] << 4) | DATA[22];
- magic_bit = (DATA[24] & 8) >> 3;
-#ifdef WK0701_FULL_DEBUG
- printk(KERN_DEBUG
- "walkera0701: %4d %4d %4d %4d %4d %4d %4d %4d (magic %2x %d)\n",
- val1, val2, val3, val4, val5, val6, val7, val8, magic,
- magic_bit);
#endif
- input_report_abs(input_dev, ABS_X, val2);
- input_report_abs(input_dev, ABS_Y, val1);
- input_report_abs(input_dev, ABS_THROTTLE, val3);
- input_report_abs(input_dev, ABS_RUDDER, val4);
- input_report_abs(input_dev, ABS_MISC, val7);
- input_report_key(input_dev, BTN_GEAR_DOWN, val5 > 0);
+ input_report_abs(w->input_dev, ABS_X, val2);
+ input_report_abs(w->input_dev, ABS_Y, val1);
+ input_report_abs(w->input_dev, ABS_Z, val6);
+ input_report_abs(w->input_dev, ABS_THROTTLE, val3);
+ input_report_abs(w->input_dev, ABS_RUDDER, val4);
+ input_report_abs(w->input_dev, ABS_MISC, val7);
+ input_report_key(w->input_dev, BTN_GEAR_DOWN, val5 > 0);
}
-static int ACK;
-static inline int read_ack(void)
+static inline int read_ack(struct pardevice *p)
{
- return (parport_read_status(walkera0701_pardevice->port) & 0x40);
+ return (parport_read_status(p->port) & 0x40);
}
-// falling edge, prepare to BIN value calculation
-static void walkera0701_irq_handler(void *dev_id)
+/* falling edge, prepare to BIN value calculation */
+static void walkera0701_irq_handler(void *handler_data)
{
- u64 pulseTime;
- IRQtime = ktime_to_ns(ktime_get());
- pulseTime = IRQtime - IRQlasttime;
- IRQlasttime = IRQtime;
- //cancel timer,if in handler or active do resync
- if (unlikely(0 != hrtimer_try_to_cancel(&walkera0701_timer))) {
-#ifdef WK0701_DEBUG
- printk(KERN_DEBUG "walkera0701: timer error\n");
-#endif
- counter = NO_SYNC;
+ u64 pulse_time;
+ struct walkera_dev *w = handler_data;
+
+ w->irq_time = ktime_to_ns(ktime_get());
+ pulse_time = w->irq_time - w->irq_lasttime;
+ w->irq_lasttime = w->irq_time;
+ /* cancel timer, if in handler or active do resync */
+ if (unlikely(0 != hrtimer_try_to_cancel(&w->timer))) {
+ w->counter = NO_SYNC;
return;
}
- if (unlikely(counter < NO_SYNC)) {
- if (ACK) {
- pulseTime -= BIN1_PULSE;
- DATA[counter] = 8;
+ if (w->counter < NO_SYNC) {
+ if (w->ack) {
+ pulse_time -= BIN1_PULSE;
+ w->buf[w->counter] = 8;
} else {
- pulseTime -= BIN0_PULSE;
- DATA[counter] = 0;
+ pulse_time -= BIN0_PULSE;
+ w->buf[w->counter] = 0;
}
- if (unlikely(counter == 24)) { //full frame
- walkera0701_parse_frame();
- counter = NO_SYNC;
- if (likely(abs(pulseTime - SYNC_PULSE) < RESERVE)) //new frame sync
- counter = 0;
-#ifdef WK0701_DEBUG
- else
- printk(KERN_DEBUG "walkera0701: SYNC lost\n");
-#endif
+ if (w->counter == 24) { /* full frame */
+ walkera0701_parse_frame(w);
+ w->counter = NO_SYNC;
+ if (abs(pulse_time - SYNC_PULSE) < RESERVE) /* new frame sync */
+ w->counter = 0;
} else {
- if (likely((pulseTime > (ANALOG_MIN_PULSE - RESERVE))
- && (pulseTime <
- (ANALOG_MAX_PULSE + RESERVE)))) {
- pulseTime -= (ANALOG_MIN_PULSE - RESERVE);
- pulseTime = (u32) pulseTime / ANALOG_DELTA; //overtiping is safe, pulsetime < s32..
- DATA[counter++] |= (pulseTime & 7);
- } else {
-#ifdef WK0701_DEBUG
- printk(KERN_DEBUG
- "walkera0701: pulse time out of range\n");
-#endif
- counter = NO_SYNC;
- }
+ if ((pulse_time > (ANALOG_MIN_PULSE - RESERVE)
+ && (pulse_time < (ANALOG_MAX_PULSE + RESERVE)))) {
+ pulse_time -= (ANALOG_MIN_PULSE - RESERVE);
+ pulse_time = (u32) pulse_time / ANALOG_DELTA; /* overtiping is safe, pulsetime < s32.. */
+ w->buf[w->counter++] |= (pulse_time & 7);
+ } else
+ w->counter = NO_SYNC;
}
} else {
- if (unlikely(abs(pulseTime - SYNC_PULSE - BIN0_PULSE) < (RESERVE + BIN1_PULSE - BIN0_PULSE))) { //frame sync ..
-#ifdef WK0701_DEBUG
- printk(KERN_DEBUG "walkera0701: New SYNC pulse\n");
-#endif
-
- counter = 0;
- }
+ if (abs(pulse_time - SYNC_PULSE - BIN0_PULSE) < (RESERVE + BIN1_PULSE - BIN0_PULSE)) /* frame sync .. */
+ w->counter = 0;
}
- hrtimer_start(&walkera0701_timer, ktime_set(0, BIN_SAMPLE),
- HRTIMER_MODE_REL);
-
+ hrtimer_start(&w->timer, ktime_set(0, BIN_SAMPLE), HRTIMER_MODE_REL);
return;
}
-static enum hrtimer_restart walkera0701_timer_handler(struct hrtimer
- *handle)
+static enum hrtimer_restart timer_handler(struct hrtimer
+ *handle)
{
- ACK = read_ack();
+ struct walkera_dev *w;
+ w = container_of(handle, struct walkera_dev, timer);
+ w->ack = read_ack(w->pardevice);
return HRTIMER_NORESTART;
}
static int walkera0701_open(struct input_dev *dev)
{
- open_counter++;
- parport_enable_irq(walkera0701_parport);
-#ifdef WK0701_DEBUG
- printk(KERN_DEBUG "walkera0701: irq enabled, open count=%d\n",
- open_counter);
-#endif
+ struct walkera_dev *w = input_get_drvdata(dev);
+ parport_enable_irq(w->parport);
return (0);
}
static void walkera0701_close(struct input_dev *dev)
{
-//TODO if this is enabled, sometime parport not send interupts if module is openned
-//workaround, counting for open and close ...
-// parport_disable_irq(walkera0701_parport);
- open_counter--;
- if (!open_counter) {
- parport_disable_irq(walkera0701_parport);
-#ifdef WK0701_DEBUG
- printk(KERN_DEBUG "walkera0701: irq disabled\n");
-#endif
- }
+ struct walkera_dev *w = input_get_drvdata(dev);
+ parport_disable_irq(w->parport);
}
-static int walkera0701_connect(int parport)
+static int walkera0701_connect(struct walkera_dev *w, int parport)
{
- int err;
- walkera0701_parport = parport_find_number(parport);
- if (walkera0701_parport == NULL) {
- printk(KERN_ERR "walkera0701: no such parport\n");
+ int err = -ENODEV;
+
+ w->parport = parport_find_number(parport);
+ if (w->parport == NULL)
return -ENODEV;
- }
- if (walkera0701_parport->irq == -1) {
- parport_put_port(walkera0701_parport);
+ if (w->parport->irq == -1) {
printk(KERN_ERR "walkera0701: parport without interrupt\n");
- return -ENODEV;
+ goto init_err;
}
- walkera0701_pardevice =
- parport_register_device(walkera0701_parport, "walkera0701",
+ err = -EBUSY;
+ w->pardevice =
+ parport_register_device(w->parport, "walkera0701",
NULL, NULL, walkera0701_irq_handler,
- PARPORT_DEV_EXCL, NULL);
+ PARPORT_DEV_EXCL, w);
+ if (!w->pardevice)
+ goto init_err;
+ if (parport_negotiate(w->pardevice->port, IEEE1284_MODE_COMPAT))
+ goto init_err1;
+ if (parport_claim(w->pardevice))
+ goto init_err1;
+ w->input_dev = input_allocate_device();
+ if (!w->input_dev)
+ goto init_err2;
- if (!walkera0701_pardevice) {
- parport_put_port(walkera0701_parport);
- printk(KERN_ERR "walkera0701: parport busy\n");
- return -EBUSY;
- }
- if (0 !=
- parport_negotiate(walkera0701_pardevice->port,
- IEEE1284_MODE_COMPAT)) {
- printk(KERN_ERR "walkera0701: parport unable to negotiate\n");
- parport_unregister_device(walkera0701_pardevice);
- parport_put_port(walkera0701_parport);
- return -EBUSY;
- }
- if (parport_claim(walkera0701_pardevice)) {
- printk(KERN_ERR
- "walkera0701: parport unable to claim, busy ?\n");
- parport_unregister_device(walkera0701_pardevice);
- parport_put_port(walkera0701_parport);
- return -EBUSY;
- }
+ input_set_drvdata(w->input_dev, w);
+ w->input_dev->name = "Walkera WK-0701 TX";
+ w->input_dev->phys = w->parport->name;
+ w->input_dev->id.bustype = BUS_PARPORT;
- input_dev = input_allocate_device();
- if (!input_dev) {
- printk(KERN_ERR
- "walkera0701 unable to allocate input device\n");
- parport_release(walkera0701_pardevice);
- parport_unregister_device(walkera0701_pardevice);
- parport_put_port(walkera0701_parport);
- return -ENOMEM;
- }
+ /* TODO what id vendor/product/version ? */
+ w->input_dev->id.vendor = 0x0001;
+ w->input_dev->id.product = 0x0001;
+ w->input_dev->id.version = 0x0100;
+ w->input_dev->open = walkera0701_open;
+ w->input_dev->close = walkera0701_close;
+
+ w->input_dev->evbit[0] = BIT(EV_ABS) | BIT_MASK(EV_KEY);
+ w->input_dev->keybit[BIT_WORD(BTN_GEAR_DOWN)] = BIT_MASK(BTN_GEAR_DOWN);
- input_dev->name = "Walkera WK-0701 TX";
- input_dev->phys = walkera0701_parport->name;
- input_dev->id.bustype = BUS_PARPORT;
- input_dev->id.vendor = 0x0001; //TODO
- input_dev->id.product = 0x0001; //TODO
- input_dev->id.version = 0x0100; //TODO
- input_dev->open = walkera0701_open;
- input_dev->close = walkera0701_close;
-
- input_dev->evbit[0] = BIT(EV_ABS) | BIT_MASK(EV_KEY);
- input_dev->keybit[BIT_WORD(BTN_GEAR_DOWN)] = BIT_MASK(BTN_GEAR_DOWN);
-
- input_set_abs_params(input_dev, ABS_X, -512, 512, 0, 0);
- input_set_abs_params(input_dev, ABS_Y, -512, 512, 0, 0);
- input_set_abs_params(input_dev, ABS_THROTTLE, -512, 512, 0, 0);
- input_set_abs_params(input_dev, ABS_RUDDER, -512, 512, 0, 0);
- input_set_abs_params(input_dev, ABS_MISC, -512, 512, 0, 0);
- err = input_register_device(input_dev);
- if (err) {
- input_free_device(input_dev);
- parport_release(walkera0701_pardevice);
- parport_unregister_device(walkera0701_pardevice);
- parport_put_port(walkera0701_parport);
- return (err);
+ input_set_abs_params(w->input_dev, ABS_X, -512, 512, 0, 0);
+ input_set_abs_params(w->input_dev, ABS_Y, -512, 512, 0, 0);
+ input_set_abs_params(w->input_dev, ABS_Z, -512, 512, 0, 0);
+ input_set_abs_params(w->input_dev, ABS_THROTTLE, -512, 512, 0, 0);
+ input_set_abs_params(w->input_dev, ABS_RUDDER, -512, 512, 0, 0);
+ input_set_abs_params(w->input_dev, ABS_MISC, -512, 512, 0, 0);
+ err = input_register_device(w->input_dev);
+ if (!err) {
+ hrtimer_init(&w->timer, CLOCK_MONOTONIC, HRTIMER_MODE_REL);
+ w->timer.function = timer_handler;
+ return 0;
}
- open_counter = 0;
- return 0;
+ input_free_device(w->input_dev);
+ init_err2:
+ parport_release(w->pardevice);
+ init_err1:
+ parport_unregister_device(w->pardevice);
+ init_err:
+ parport_put_port(w->parport);
+ return err;
+}
+static void walkera0701_disconnect(struct walkera_dev *w)
+{
+ hrtimer_cancel(&w->timer);
+ input_unregister_device(w->input_dev);
+ parport_release(w->pardevice);
+ parport_unregister_device(w->pardevice);
+ parport_put_port(w->parport);
}
static int __init walkera0701_init(void)
{
- hrtimer_init(&walkera0701_timer, CLOCK_MONOTONIC, HRTIMER_MODE_REL);
- walkera0701_timer.function = walkera0701_timer_handler;
- return walkera0701_connect(walkera0701_pp_no);
+ return (walkera0701_connect(w_dev, walkera0701_pp_no));
}
static void __exit walkera0701_exit(void)
{
- hrtimer_cancel(&walkera0701_timer);
- input_unregister_device(input_dev);
- input_free_device(input_dev);
- if (walkera0701_pardevice) {
- parport_release(walkera0701_pardevice);
- parport_unregister_device(walkera0701_pardevice);
- parport_put_port(walkera0701_parport);
- }
+ walkera0701_disconnect(w_dev);
}
module_init(walkera0701_init);
projects / walkera0701-joystick / commitdiff