Fixed parport_put_port

Fixed DEBUG for module
Removed Lindent script (moved to Makefile)

diff --git a/Lindent b/Lindent
deleted file mode 100755 (executable)
index 7d8d889..0000000
--- a/Lindent
+++ /dev/null
@@ -1,2 +0,0 @@
-#!/bin/sh
-indent -npro -kr -i8 -ts8 -sob -l80 -ss -ncs "$@"

diff --git a/Makefile b/Makefile
index 9651dc331536e5580c047747ddd4adc6c87bafee..e9ef28f517f0a240aabadd3ca7e366fd8073c8d6 100644 (file)
--- a/Makefile
+++ b/Makefile
@@ -1,4 +1,5 @@
-all:    modules
+
+walkera0701.ko:        modules
 
 modules:  walkera0701.c
        rm -f *.o
@@ -19,11 +20,11 @@ clean:
        rm -f Module.symvers
 
 indent:        
-       ./Lindent walkera0701.c
+       indent -npro -kr -i8 -ts8 -sob -l80 -ss -ncs  walkera0701.c
 
 rmmod:
        rmmod -f walkera0701
 
-insmod:
-       sync;insmod walkera0701.ko
+insmod:        walkera0701.ko
+       insmod walkera0701.ko
        

diff --git a/walkera0701.c b/walkera0701.c
index 6129b2d027f03a29094c152e69e1ec307a5b373d..701436b6be8a56adc289e0fb2ed6ab48c71f0ccd 100644 (file)
--- a/walkera0701.c
+++ b/walkera0701.c
@@ -11,21 +11,27 @@
 */
 
 /*
-Cable: (walkera TX to parralel port)
+download: 
+cg-clone http://zub.fei.tuke.sk/GIT/walkera0701-joystick 
+http://zub.fei.tuke.sk/cgi-bin/gitweb.cgi?p=walkera0701-joystick
+ 
+
+Cable: (walkera TX to parport)
 
 Walkera WK-0701 TX S-VIDEO connector:
-                  (back side of TX)
-     __   __ 
-    /  |_|  \     connect pin 2 (signal)              NPN           canon25
-   / O 4 3 O \    connect pin 3 (GND)        LED        ________________  10
+ (back side of TX) 
+     __   __              S-video:                                  canon25
+    /  |_|  \             pin 2 (signal)              NPN           parport
+   / O 4 3 O \            pin 3 (GND)        LED        ________________  10 ACK
   ( O 2   1 O )                                         | C
    \   ___   /      2 ________________________|\|_____|/
     | [___] |                                 |/|   B |\ 
-     -------        3 __________________________________|________________ 25
+     -------        3 __________________________________|________________ 25 GND
                                                           E
  
 Frame format:
 Based on walkera WK-0701 PCM Format description by Shaul Eizikovich.
+(downloaded from http://www.smartpropoplus.com/Docs/Walkera_Wk-0701_PCM.pdf)
 
 Signal pulses:
                    (ANALOG)
@@ -53,6 +59,15 @@ pulse length:
 
 all times in code  in ns
 */
+
+//#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
 #define BIN0_PULSE 288000
@@ -103,11 +118,15 @@ static inline void walkera0701_parse_frame(void)
                crc2 += (DATA[i] & 8) >> 3;
        }
        if ((DATA[10] & 7) != (crc1 & 7)) {
-               printk(KERN_INFO "walkera0701: Bad OCT 1-4 checksum\n");
+#ifdef WK0701_DEBUG
+               printk(KERN_DEBUG "walkera0701: Bad OCT 1-4 checksum\n");
+#endif
                return;
        }
        if (((DATA[10] & 8) >> 3) != (((crc1 >> 3) + crc2) & 1)) {
-               printk(KERN_INFO "walkera0701: Bad BIN - OCT 1-4 checksum\n");
+#ifdef WK0701_DEBUG
+               printk(KERN_DEBUG "walkera0701: Bad BIN - OCT 1-4 checksum\n");
+#endif
                return;
        }
        for (crc1 = crc2 = 0, i = 11; i < 23; i++) {
@@ -115,11 +134,15 @@ static inline void walkera0701_parse_frame(void)
                crc2 += (DATA[i] & 8) >> 3;
        }
        if ((DATA[23] & 7) != (crc1 & 7)) {
-               printk(KERN_INFO "walkera0701: Bad OCT 5-8 checksum\n");
+#ifdef WK0701_DEBUG
+               printk(KERN_DEBUG "walkera0701: Bad OCT 5-8 checksum\n");
+#endif
                return;
        }
        if (((DATA[23] & 8) >> 3) != (((crc1 >> 3) + crc2) & 1)) {
-               printk(KERN_INFO "walkera0701: Bad BIN - OCT 5-8 checksum\n");
+#ifdef WK0701_DEBUG
+               printk(KERN_DEBUG "walkera0701: Bad BIN - OCT 5-8 checksum\n");
+#endif
                return;
        }
        val1 = ((DATA[0] & 7) * 256 + DATA[1] * 16 + DATA[2]) >> 2;
@@ -141,9 +164,12 @@ static inline void walkera0701_parse_frame(void)
 
        magic = (DATA[21] << 4) | DATA[22];
        magic_bit = (DATA[24] & 8) >> 3;
-/*     printk(KERN_INFO "walkera0701: %4d %4d %4d %4d  %4d %4d %4d %4d (magic %2x %d)\n",
-              val1, val2, val3, val4, val5, val6, val7, val8, magic,magic_bit);
-*/
+#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);
@@ -167,6 +193,9 @@ static void walkera0701_irq_handler(void *dev_id)
        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;
                return;
        }
@@ -183,6 +212,10 @@ static void walkera0701_irq_handler(void *dev_id)
                        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
                } else {
                        if (likely((pulseTime > (ANALOG_MIN_PULSE - RESERVE))
                                   && (pulseTime <
@@ -190,12 +223,22 @@ static void walkera0701_irq_handler(void *dev_id)
                                pulseTime -= (ANALOG_MIN_PULSE - RESERVE);
                                pulseTime = (u32) pulseTime / ANALOG_DELTA;     //overtiping is safe, pulsetime < s32.. 
                                DATA[counter++] |= (pulseTime & 7);
-                       } else
+                       } else {
+#ifdef WK0701_DEBUG
+                               printk(KERN_DEBUG
+                                      "walkera0701: pulse time out of range\n");
+#endif
                                counter = NO_SYNC;
+                       }
                }
        } else {
-               if (unlikely(abs(pulseTime - SYNC_PULSE - BIN0_PULSE) < (RESERVE + BIN1_PULSE - BIN0_PULSE)))   //frame sync ..
+               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;
+               }
        }
        hrtimer_start(&walkera0701_timer, ktime_set(0, BIN_SAMPLE),
                      HRTIMER_MODE_REL);
@@ -209,14 +252,18 @@ static enum hrtimer_restart walkera0701_timer_handler(struct hrtimer
        ACK = read_ack();
        return HRTIMER_NORESTART;
 }
+
 static int walkera0701_open(struct input_dev *dev)
 {
        open_counter++;
        parport_enable_irq(walkera0701_parport);
-       printk(KERN_INFO "walkera0701: irq enabled, open count=%d\n",
+#ifdef WK0701_DEBUG
+       printk(KERN_DEBUG "walkera0701: irq enabled, open count=%d\n",
               open_counter);
+#endif
        return (0);
 }
+
 static void walkera0701_close(struct input_dev *dev)
 {
 //TODO  if this is enabled, sometime parport not send interupts if module is openned 
@@ -225,9 +272,12 @@ static void walkera0701_close(struct input_dev *dev)
        open_counter--;
        if (!open_counter) {
                parport_disable_irq(walkera0701_parport);
-               printk(KERN_INFO "walkera0701: irq disabled\n");
+#ifdef WK0701_DEBUG
+               printk(KERN_DEBUG "walkera0701: irq disabled\n");
+#endif
        }
 }
+
 static int walkera0701_connect(int parport)
 {
        int err;
@@ -237,6 +287,7 @@ static int walkera0701_connect(int parport)
                return -ENODEV;
        }
        if (walkera0701_parport->irq == -1) {
+               parport_put_port(walkera0701_parport);
                printk(KERN_ERR "walkera0701: parport without interrupt\n");
                return -ENODEV;
        }
@@ -244,17 +295,25 @@ static int walkera0701_connect(int parport)
            parport_register_device(walkera0701_parport, "walkera0701",
                                    NULL, NULL, walkera0701_irq_handler,
                                    PARPORT_DEV_EXCL, NULL);
+
        if (!walkera0701_pardevice) {
+               parport_put_port(walkera0701_parport);
                printk(KERN_ERR "walkera0701: parport busy\n");
                return -EBUSY;
        }
-       parport_negotiate(walkera0701_pardevice->port, IEEE1284_MODE_COMPAT);
-//TODO needed ?
-//      parport_put_port(walkera0701_parport);
+       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;
        }
 
@@ -264,6 +323,7 @@ static int walkera0701_connect(int parport)
                       "walkera0701 unable to allocate input device\n");
                parport_release(walkera0701_pardevice);
                parport_unregister_device(walkera0701_pardevice);
+               parport_put_port(walkera0701_parport);
                return -ENOMEM;
        }
 
@@ -293,7 +353,6 @@ static int walkera0701_connect(int parport)
                return (err);
        }
        open_counter = 0;
-       //parport_enable_irq(walkera0701_parport);
        return 0;
 }
 
@@ -303,6 +362,7 @@ static int __init walkera0701_init(void)
        walkera0701_timer.function = walkera0701_timer_handler;
        return walkera0701_connect(walkera0701_pp_no);
 }
+
 static void __exit walkera0701_exit(void)
 {
        hrtimer_cancel(&walkera0701_timer);
@@ -311,6 +371,7 @@ static void __exit walkera0701_exit(void)
        if (walkera0701_pardevice) {
                parport_release(walkera0701_pardevice);
                parport_unregister_device(walkera0701_pardevice);
+               parport_put_port(walkera0701_parport);
        }
 }