From 6365171005666a6eb7e7bc574586f90083ea6d35 Mon Sep 17 00:00:00 2001 From: Peter Popovec Date: Thu, 30 Oct 2008 07:30:48 +0100 Subject: [PATCH] Lot of cosmetic corrections, to "match" kernel coding style. --- walkera0701.c | 388 ++++++++++++++++++++++---------------------------- 1 file changed, 169 insertions(+), 219 deletions(-) diff --git a/walkera0701.c b/walkera0701.c index adb0d14..a18f39a 100644 --- a/walkera0701.c +++ b/walkera0701.c @@ -13,13 +13,7 @@ */ -//#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 @@ -51,281 +45,237 @@ module_param_named(port, walkera0701_pp_no, int, 0); 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); -- 2.39.5