GPIO144 DRDY signal from PIC24@CPU2010
SPI2 AD data receive and CMD send for PIC24@CPU2010
+
+ **** Ver1.1 2016/2
+ * kernel3.18対応
+ * kernel3.18用に変更した他のspike-adを参考にして変更した
+ * makeではなくbitbakeでbuildするように変更した
+ * SPI速度を500KHz->50KHzに変更
+ * bus_find_device_by_name()で見つけたデバイスをdevice_del()で取り除くようにした
+ *
+ * Make方法
+ * $ cd dev/overo-yocto-2015/
+ * $ . poky/oe-init-build-env
+ * $ bitbake spike-ad
Copyright Naoya Takamura, 2011
This program based on spike.c
+
---------------------------------------------
spike.c
Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
+#include <linux/kernel.h> /* We're doing kernel work */
+#include <linux/module.h> /* Specifically, a module */
#include <linux/init.h>
-#include <linux/module.h>
#include <linux/fs.h>
#include <linux/device.h>
#include <linux/mutex.h>
#include <linux/wait.h>
#include <linux/sched.h>
#include <asm/atomic.h>
+#include <asm/irq.h>
+#include <linux/hrtimer.h>
#include "spike-ad.h"
#define SPI_BUS 1
#define SPI_BUS_CS0 0
-#define SPI_BUS_SPEED 500000 // Hz
+//#define SPI_BUS_SPEED 500000 // Hz 2us/bit
+#define SPI_BUS_SPEED 50000 // Hz 20us/bit
#define SPI_DATA_SIZE (965+1) // $含む PICから受信するデータ長 DMA問題のために+1byteしている
#define GPIO_TOGGLE_OUT 145 // Debug用toggle出力 = GPIO145
#endif
+// SPI受信タイムアウト用タイマ
+#define SPI_TIMEOUT_SEC 3
+#define SPI_TIMEOUT_NS 0
+
/**** 注意！ Version */
-#define VERSION "1.0"
-#define MODULE_NAME "spike-ad"
+#define VERSION "1.1"
+#define MODULE_NAME "spikead"
const char this_driver_name[] = MODULE_NAME;
struct class *class;
struct spi_device *spi_device;
char *user_buff;
-// u8 test_data;
+ struct hrtimer timer;
};
static struct spike_dev spike_dev;
typedef struct {
unsigned long f_version; // 識別用 f_version
wait_queue_head_t wait; /* read and write queues */
+ struct semaphore finfo_sem;
int sleep_mode; // 0: 起きてる 1: 待ち
- int intflag; // 割り込みフラグ 1=割り込み入った
} FileInfo;
static FileInfo finfo;
-
-void spike_tasklet_func(unsigned long data);
-DECLARE_TASKLET(spike_tasklet, spike_tasklet_func, 0);
-
//
/**** SPI受信データ リングバッファ ******************************************
*/
return 0;
}
-
+//
+/**** SPI受信終了ハンドラ ******************************************
+ */
/*
- spike_queue_spi_write()で開始した
- spi_async()終了後に呼ばれる
- つまりSPIでデータを受信完了した状態
+ SPI受信 Completion Handlerでスケジュールされるタスクレット関数
+ SPI受信データ処理をする
*/
-static void spike_spi_completion_handler(void *arg)
+void spike_spi_completion_tasklet_func(unsigned long arg)
+{
+//printk(KERN_INFO MODULE_NAME" %s\n", __FUNCTION__);
+ // ここatomic spike_ctl
+ if (down_interruptible(&spike_ctl.cmd_sem)) {
+ return;
+ }
+ spike_ctl.busy = 0;
+ spike_ctl.spi_callbacks++;
+ up(&spike_ctl.cmd_sem);
+ // ここatomic finfo
+ if (down_interruptible(&finfo.finfo_sem)) {
+ return;
+ }
+ // 寝ているものを起こす
+ if (finfo.sleep_mode) {
+ // 待ちを
+ wake_up_interruptible(&(finfo.wait)); // 起こす
+ //printk(KERN_INFO "intsel_interrupt: wakeup %ld\n", fi[i].f_version);
+ // この間でpoll()でsleep_mode=1になるとまずいのでセマフォで保護している。
+ finfo.sleep_mode = 0;
+ }
+ up(&finfo.finfo_sem);
+}
+// タスクレット宣言
+DECLARE_TASKLET(spike_spi_completion_tasklet, spike_spi_completion_tasklet_func, 0);
+/*
+ SPI受信 Completion Handler
+ spike_queue_spi_write()で開始したspi_async()終了後に呼ばれる
+ つまりSPIでデータを受信完了すると呼ばれる
+ Sleep禁止
+ */
+void spike_spi_completion_handler(void *arg)
{
unsigned char *p;
memcpy(p, spike_ctl.rx_buff, SPI_DATA_SIZE);
// 実際に受信できたデータ長
spike_ctl.received_len = spike_ctl.msg.actual_length;
-
// 書き込み位置進める
ring_write_plus();
- // 寝ているものを起こす
- if (finfo.sleep_mode) {
- // 待ちを
- wake_up_interruptible(&(finfo.wait)); // 起こす
-//printk(KERN_INFO "intsel_interrupt: wakeup %ld\n", fi[i].f_version);
- finfo.sleep_mode = 0;
- finfo.intflag = 1;
- }
+ // SPI受信タイムアウトタイマ停止
+ hrtimer_cancel(&spike_dev.timer);
+ // DRDY割り込みON
+ // ココでONにするとGPS受信状態が悪い時などにctrl.busy=1のまま割り込みが入ってしまう可能性があるが、busyは参照していないので良しとする
+ enable_irq(spike_ctl.irq);
+
+ // 後はタスクレットに任せる
+ tasklet_hi_schedule(&spike_spi_completion_tasklet);
}
+//
+/**** DRDY割り込み関係 ******************************************
+ */
/*
- spi_async()で送信開始
+ タスクレットから呼ばれる
+ spi_async()で送信開始する
受信データはcallback funcで受ける
*/
static int spike_queue_spi_write(void)
int status;
unsigned long flags;
- // struct spi_messageを初期化 ゼロクリア
- spi_message_init(&spike_ctl.msg);
+//printk(KERN_INFO MODULE_NAME" %s\n", __FUNCTION__);
- // Callback関数設定
- spike_ctl.msg.complete = spike_spi_completion_handler;
- spike_ctl.msg.context = NULL;
-
- memset(spike_ctl.tx_buff, 0, SPI_BUFF_SIZE);
- memset(spike_ctl.rx_buff, 0, SPI_BUFF_SIZE);
-
- if (down_interruptible(&spike_ctl.cmd_sem))
+// ここatomic spike_ctl
+ if (down_interruptible(&spike_ctl.cmd_sem)) {
return -ERESTARTSYS;
+ }
+ // struct spi_messageを初期化 ゼロクリア
+ spi_message_init(&spike_ctl.msg);
+ // Callback関数設定
+ spike_ctl.msg.complete = spike_spi_completion_handler;
+ spike_ctl.msg.context = NULL;
+ memset(spike_ctl.tx_buff, 0, SPI_BUFF_SIZE);
+ memset(spike_ctl.rx_buff, 0, SPI_BUFF_SIZE);
// TXコマンドセット
memcpy(spike_ctl.tx_buff, spike_ctl.cmd_buf, spike_ctl.cmd_len);
// TXコマンドクリア
memset(spike_ctl.cmd_buf, 0, SPI_CMD_MAX);
- up(&spike_ctl.cmd_sem);
+ spike_ctl.transfer.tx_buf = spike_ctl.tx_buff;
+ spike_ctl.transfer.rx_buf = spike_ctl.rx_buff;
+ spike_ctl.transfer.len = SPI_DATA_SIZE;
- spike_ctl.transfer.tx_buf = spike_ctl.tx_buff;
- spike_ctl.transfer.rx_buf = spike_ctl.rx_buff;
- spike_ctl.transfer.len = SPI_DATA_SIZE;
+ spi_message_add_tail(&spike_ctl.transfer, &spike_ctl.msg);
+ up(&spike_ctl.cmd_sem);
+ // ここまでatomic
- spi_message_add_tail(&spike_ctl.transfer, &spike_ctl.msg);
+ // DRDY割り込みOFF
+ // PICのバッファにデータがあるとSPI受信中に再度DRDYがLowになり割り込みがかかってしまうため
+ disable_irq(spike_ctl.irq);
+ // SpinLock
spin_lock_irqsave(&spike_dev.spi_lock, flags);
-
- if (spike_dev.spi_device)
- status = spi_async(spike_dev.spi_device, &spike_ctl.msg);
- else
- status = -ENODEV;
-
+ // SPI送受信開始
+ if (spike_dev.spi_device)
+ status = spi_async(spike_dev.spi_device, &spike_ctl.msg);
+ else
+ status = -ENODEV;
spin_unlock_irqrestore(&spike_dev.spi_lock, flags);
- if (status == 0)
+ if (status == 0) {
spike_ctl.busy = 1;
-
+ // SPI受信タイムアウトタイマスタート
+ hrtimer_start(&spike_dev.timer,
+ ktime_set(SPI_TIMEOUT_SEC, SPI_TIMEOUT_NS),
+ HRTIMER_MODE_REL);
+ return status;
+ }
+
+ // SPIがエラーなのでDRDY割り込みONに戻す
+ enable_irq(spike_ctl.irq);
+ switch(status) {
+ case -ENODEV:
+ printk(KERN_WARNING "%s %s spi_async()=ENODEV\n", MODULE_NAME, __FUNCTION__);
+ break;
+ case -EBUSY:
+ printk(KERN_WARNING "%s %s spi_async()=EBUSY\n", MODULE_NAME, __FUNCTION__);
+ break;
+ case -EINVAL:
+ printk(KERN_WARNING "%s %s spi_async()=EINVAL\n", MODULE_NAME, __FUNCTION__);
+ break;
+ default:
+ printk(KERN_WARNING "%s %s spi_async()=%d\n", MODULE_NAME, __FUNCTION__, status);
+ break;
+ }
return status;
}
/*
- Tasklet
- IRQ Handlerで呼び出される
+ タスクレット
+ IRQ Handlerã\81§å\91¼ã\81³å\87ºã\81\97ã\81\8cã\82¹ã\82±ã\82¸ã\83¥ã\83¼ã\83«ã\81\95ã\82\8cã\82\8b
SPI送受信を開始する
*/
void spike_tasklet_func(unsigned long data)
{
int status;
+//printk(KERN_INFO "%s %s()\n", MODULE_NAME, __FUNCTION__);
// SPI送受信開始
status = spike_queue_spi_write();
if (status) {
// error
+ printk(KERN_ERR "%s %s spike_queue_spi_write()=%d\n", MODULE_NAME, __FUNCTION__, status);
} else {
// ok
}
}
+// タスクレット宣言
+DECLARE_TASKLET(spike_tasklet, spike_tasklet_func, 0);
/*
- DRDY Interrupt Handler
+ DRDY 割り込みハンドラ
*/
static irqreturn_t irq_handler(int irq, void *dev_id)
{
}
#endif
// タスクレットにまかせる
- tasklet_schedule(&spike_tasklet);
+ tasklet_hi_schedule(&spike_tasklet);
return IRQ_HANDLED;
}
-#if 0
-static ssize_t spike_file_read(struct file *filp, char __user *buff, size_t count,
- loff_t *offp)
+//
+/**** High Res. Timer Callback *****************************************
+ * SPI受信が正常に終了しなかった場合にタイムアウトで呼ばれる
+ * DRDY割り込みを有効にする
+ */
+static enum hrtimer_restart spike_timer_callback(struct hrtimer *timer)
{
- size_t len;
- ssize_t status = 0;
-
- if (!buff)
- return -EFAULT;
-
- if (*offp > 0)
- return 0;
-
- if (down_interruptible(&spike_dev.fop_sem))
- return -ERESTARTSYS;
-
-if (spike_ctl.busy) {
- sprintf(spike_dev.user_buff, "spike_ctl.busy==1\n");
- count = strlen(spike_dev.user_buff);
- up(&spike_dev.fop_sem);
- return count;
-} else {
-//sprintf(spike_dev.user_buff, "DMA\n");
-
- sprintf(spike_dev.user_buff,
- "Status: %d\nTX: %d %d %d %d\nRX: %d %d %d %d %d %d %d %d %d %d %d %d %d %d %d %d\nCallback=%d DRDY=%d\n",
- spike_ctl.msg.status,
- spike_ctl.tx_buff[0], spike_ctl.tx_buff[1],
- spike_ctl.tx_buff[2], spike_ctl.tx_buff[3],
- spike_ctl.rx_buff[0], spike_ctl.rx_buff[1],
- spike_ctl.rx_buff[2], spike_ctl.rx_buff[3],
- spike_ctl.rx_buff[4], spike_ctl.rx_buff[5],
- spike_ctl.rx_buff[6], spike_ctl.rx_buff[7],
- spike_ctl.rx_buff[8], spike_ctl.rx_buff[9],
- spike_ctl.rx_buff[10], spike_ctl.rx_buff[11],
- spike_ctl.rx_buff[12], spike_ctl.rx_buff[13],
- spike_ctl.rx_buff[14], spike_ctl.rx_buff[15],
- spike_ctl.spi_callbacks, gpio_get_value(GPIO_DRDY_IN));
-
-}
-// status = spike_do_one_message();
-//status = spike_send_cmd();
-//status = spike_rcv_data();
-
-#if 0
-// SPI送受信開始
-status = spike_queue_spi_write();
-
- if (status) {
- sprintf(spike_dev.user_buff,
- "spike_do_one_message failed : %d\n",
- status);
- }
- else {
+ // DRDY割り込みON
+ if (spike_ctl.irq > 0) {
+ enable_irq(spike_ctl.irq);
}
-#endif
-
- len = strlen(spike_dev.user_buff);
-
- if (len < count)
- count = len;
-
- if (copy_to_user(buff, spike_dev.user_buff, count)) {
- printk(KERN_ALERT "spike_read(): copy_to_user() failed\n");
- status = -EFAULT;
- } else {
- *offp += count;
- status = count;
- }
-
- up(&spike_dev.fop_sem);
-
- return status;
+ printk(KERN_WARNING "%s %s spi rcv timeout\n", MODULE_NAME, __FUNCTION__);
+//printk(KERN_INFO "timer!\n");
+ return HRTIMER_NORESTART;
}
-#endif
-
+//
+/**** spike file operation *******************************************
+ * デバイスファイル操作関係
+ */
+// OPEN
static int spike_file_open(struct inode *inode, struct file *filp)
{
int status = 0;
if (down_interruptible(&spike_dev.fop_sem))
return -ERESTARTSYS;
- if (!spike_dev.user_buff) {
- spike_dev.user_buff = kmalloc(USER_BUFF_SIZE, GFP_KERNEL);
- if (!spike_dev.user_buff)
- status = -ENOMEM;
- }
-
- if (finfo.f_version != 0) {
- printk(KERN_INFO "spike_open: busy\n");
- return -EBUSY;
- }
+ if (!spike_dev.user_buff) {
+ spike_dev.user_buff = kmalloc(USER_BUFF_SIZE, GFP_KERNEL);
+ if (!spike_dev.user_buff)
+ status = -ENOMEM;
+ }
- finfo.f_version = filp->f_version;
- finfo.sleep_mode = 0;
- finfo.intflag = 0;
- init_waitqueue_head(&(finfo.wait));
- filp->private_data = (void*)&finfo; // プライベートデータに構造体ポインタ設定
+ if (finfo.f_version != 0) {
+ printk(KERN_INFO "spike_open: busy\n");
+ up(&spike_dev.fop_sem);
+ return -EBUSY;
+ }
- ring_clear();
+ finfo.f_version = filp->f_version;
+ finfo.sleep_mode = 0;
+ init_waitqueue_head(&(finfo.wait));
+ filp->private_data = (void*)&finfo; // プライベートデータに構造体ポインタ設定
up(&spike_dev.fop_sem);
+ spike_ctl.busy = 0;
+
+ ring_clear();
+
return status;
}
-
+// CLOSE
static int spike_file_close(struct inode * inode, struct file * file)
{
// printk(KERN_INFO "spike_close: (%Lu)\n",file->f_version);
((FileInfo *)(file->private_data))->f_version = 0;
((FileInfo *)(file->private_data))->sleep_mode = 0;
- ((FileInfo *)(file->private_data))->intflag = 0;
return 0;
}
-
+/*
+ * poll
+ */
static unsigned int spike_file_poll(struct file *file, struct poll_table_struct *ptab)
{
//printk(KERN_INFO "spike_file_poll: (%ld)\n",file->f_version);
- // 割り込み入っている
- if ( ((FileInfo *)(file->private_data))->intflag ) {
- // フラグクリア
- ((FileInfo *)(file->private_data))->intflag = 0;
-//printk(KERN_INFO "spike_file_poll: (%ld) interrupted\n",file->f_version);
- return POLLIN | POLLRDNORM; // 読み込みOK
- }
- // 割り込み入っていないので待ち行列に追加する 割り込みハンドラが起こす
- poll_wait(file, &(((FileInfo *)(file->private_data))->wait), ptab);
-//printk(KERN_INFO "spike_file_poll: (%ld) poll_wait\n",file->f_version);
- // sleep_mode=寝ている
- ((FileInfo *)(file->private_data))->sleep_mode = 1;
+ // atomicにしておく
+ if (down_interruptible(&finfo.finfo_sem))
+ return -ERESTARTSYS;
+
+ // ringバッファにデータがあれば
+ if (ring_num_get() > 0) {
+ up(&finfo.finfo_sem);
+ return POLLIN | POLLRDNORM; // 読み込みOK
+ }
+ // ココで割り込みが入ってspike_spi_completion_handler()でring write位置が進むとまずい
+
+ // 待ち行列に追加する 割り込みハンドラが起こす
+ poll_wait(file, &(((FileInfo *)(file->private_data))->wait), ptab);
+ //printk(KERN_INFO "spike_file_poll: (%ld) poll_wait\n",file->f_version);
+
+ // sleep_mode=寝ている
+ ((FileInfo *)(file->private_data))->sleep_mode = 1;
+
+ up(&finfo.finfo_sem);
return 0;
}
-
+/*
+ * ioctl
+ */
static long spike_file_ioctl(struct file *file, unsigned int cmd, unsigned long arg)
{
int i;
switch(cmd) {
// SPI送信データ長セット
case CMD_TX_LEN:
- if (down_interruptible(&spike_ctl.cmd_sem))
+ // atomic spike_ctl
+ if (down_interruptible(&spike_ctl.cmd_sem)) {
return -ERESTARTSYS;
- if (copy_from_user(&spike_ctl.cmd_len, (void *)arg, sizeof(int))) {
- printk(KERN_ALERT "spike_file_ioctl(): copy_from_user() failed\n");
- up(&spike_ctl.cmd_sem);
- return -EFAULT;
}
-//printk(KERN_INFO "spike_file_ioctl: CMD_TX_LEN %d\n", spike_ctl.cmd_len);
- if (spike_ctl.cmd_len > SPI_CMD_MAX) spike_ctl.cmd_len = SPI_CMD_MAX;
+ if (copy_from_user(&spike_ctl.cmd_len, (void *)arg, sizeof(int))) {
+ printk(KERN_ALERT "spike_file_ioctl(): copy_from_user() failed\n");
+ up(&spike_ctl.cmd_sem);
+ return -EFAULT;
+ }
+ //printk(KERN_INFO "spike_file_ioctl: CMD_TX_LEN %d\n", spike_ctl.cmd_len);
+ if (spike_ctl.cmd_len > SPI_CMD_MAX) spike_ctl.cmd_len = SPI_CMD_MAX;
up(&spike_ctl.cmd_sem);
return 0;
// SPI送信データセット
case CMD_TX_SET:
- if (down_interruptible(&spike_ctl.cmd_sem))
+ // atomic spike_ctl
+ if (down_interruptible(&spike_ctl.cmd_sem)) {
return -ERESTARTSYS;
- if (copy_from_user(&spike_ctl.cmd_buf, (void *)arg, spike_ctl.cmd_len)) {
- printk(KERN_ALERT "spike_file_ioctl(): copy_from_user() failed\n");
- up(&spike_ctl.cmd_sem);
- return -EFAULT;
}
+ if (copy_from_user(&spike_ctl.cmd_buf, (void *)arg, spike_ctl.cmd_len)) {
+ printk(KERN_ALERT "spike_file_ioctl(): copy_from_user() failed\n");
+ up(&spike_ctl.cmd_sem);
+ return -EFAULT;
+ }
//printk(KERN_INFO "spike_file_ioctl: CMD_TX_SET %02X %02X %02X %02X\n", spike_ctl.cmd_buf[0], spike_ctl.cmd_buf[1], spike_ctl.cmd_buf[2], spike_ctl.cmd_buf[3]);
up(&spike_ctl.cmd_sem);
return 0;
return 0;
}
}
-
+// File Operation構造体初期化
static const struct file_operations spike_fops = {
.owner = THIS_MODULE,
// .read = spike_file_read,
.poll = spike_file_poll,
.unlocked_ioctl = spike_file_ioctl,
};
-
-
-static int spike_probe(struct spi_device *spi_device)
+//
+/**** spi device operation *******************************************
+ */
+static int spike_probe(struct spi_device *spi)
{
unsigned long flags;
+printk(KERN_INFO "%s %s() bus=%d,cs=%d\n", MODULE_NAME, __FUNCTION__, spi->master->bus_num, spi->chip_select);
+
+ // SpinLock
spin_lock_irqsave(&spike_dev.spi_lock, flags);
- spike_dev.spi_device = spi_device;
+ spike_dev.spi_device = spi;
spin_unlock_irqrestore(&spike_dev.spi_lock, flags);
return 0;
static int spike_remove(struct spi_device *spi_device)
{
unsigned long flags;
+printk(KERN_INFO "%s %s()\n", MODULE_NAME, __FUNCTION__);
+ // SPI受信タイムアウトタイマ停止
+ hrtimer_cancel(&spike_dev.timer);
+ // SpinLock
spin_lock_irqsave(&spike_dev.spi_lock, flags);
- spike_dev.spi_device = NULL;
+ spike_dev.spi_device = NULL;
spin_unlock_irqrestore(&spike_dev.spi_lock, flags);
return 0;
}
+// SPI Driver構造体初期化
+static struct spi_driver spike_driver = {
+ .driver = {
+ .name = this_driver_name,
+ .owner = THIS_MODULE,
+ },
+ .probe = spike_probe,
+ .remove = spike_remove,
+};
+//
+/**** spike_init()関係 *****************************************************
+ * モジュール初期化 load
+ * モジュール終了 unload
+ */
/*
SPIデバイスの設定
*/
printk(KERN_ALERT "Missing modprobe omap2_mcspi?\n");
return -1;
}
-
spi_device = spi_alloc_device(spi_master);
if (!spi_device) {
put_device(&spi_master->dev);
printk(KERN_ALERT "spi_alloc_device() failed\n");
return -1;
}
-
+ // 使用するCSx設定
spi_device->chip_select = SPI_BUS_CS0;
-
/* Check whether this SPI bus.cs is already claimed */
snprintf(buff, sizeof(buff), "%s.%u",
dev_name(&spi_device->master->dev),
spi_device->chip_select);
-
pdev = bus_find_device_by_name(spi_device->dev.bus, NULL, buff);
if (pdev) {
- /* We are not going to use this spi_device, so free it */
+ // デバイス取り除く
+ device_del(pdev);
+ }
+ spi_device->max_speed_hz = SPI_BUS_SPEED;
+ spi_device->mode = SPI_MODE_0;
+ spi_device->bits_per_word = 8;
+ spi_device->irq = -1;
+ spi_device->controller_state = NULL;
+ spi_device->controller_data = NULL;
+ strlcpy(spi_device->modalias, this_driver_name, SPI_NAME_SIZE);
+
+ status = spi_add_device(spi_device);
+ if (status < 0) {
spi_dev_put(spi_device);
-
- /*
- * There is already a device configured for this bus.cs
- * It is okay if it us, otherwise complain and fail.
- */
- if (pdev->driver && pdev->driver->name &&
- strcmp(this_driver_name, pdev->driver->name)) {
- printk(KERN_ALERT
- "Driver [%s] already registered for %s\n",
- pdev->driver->name, buff);
- status = -1;
- }
- } else {
- spi_device->max_speed_hz = SPI_BUS_SPEED;
- spi_device->mode = SPI_MODE_0;
- spi_device->bits_per_word = 8;
- spi_device->irq = -1;
- spi_device->controller_state = NULL;
- spi_device->controller_data = NULL;
- strlcpy(spi_device->modalias, this_driver_name, SPI_NAME_SIZE);
-
- status = spi_add_device(spi_device);
- if (status < 0) {
- spi_dev_put(spi_device);
- printk(KERN_ALERT "spi_add_device() failed: %d\n",
- status);
- }
+ printk(KERN_ALERT "spi_add_device() failed: %d\n",
+ status);
}
-
put_device(&spi_master->dev);
return status;
}
-static struct spi_driver spike_driver = {
- .driver = {
- .name = this_driver_name,
- .owner = THIS_MODULE,
- },
- .probe = spike_probe,
- .remove = __devexit_p(spike_remove),
-};
-
+/*
+ * spike_ctl初期化
+ */
static int __init spike_init_spi(void)
{
int error;
-
+
+ spike_ctl.busy = 0;
spike_ctl.tx_buff = kmalloc(SPI_BUFF_SIZE, GFP_KERNEL | GFP_DMA);
if (!spike_ctl.tx_buff) {
error = -ENOMEM;
error = -ENOMEM;
goto spike_init_error;
}
-
+// probe()関数などをspi driverに登録する
error = spi_register_driver(&spike_driver);
if (error < 0) {
printk(KERN_ALERT "spi_register_driver() failed %d\n", error);
goto spike_init_error;
}
-
+ // SPIデバイス設定
error = add_spike_device_to_bus();
if (error < 0) {
printk(KERN_ALERT "add_spike_to_bus() failed\n");
spi_unregister_driver(&spike_driver);
goto spike_init_error;
}
-// 一貫性のあるDMAマッピング
-/*
-spike_dev.spi_device->dev.coherent_dma_mask = 0xFFFFFFFF;
-
-spike_ctl.tx_buff = dma_alloc_coherent(&(spike_dev.spi_device->dev), SPI_BUFF_SIZE, &spike_ctl.tx_dma, GFP_ATOMIC);
- if (!spike_ctl.tx_buff) {
- error = -ENOMEM;
- goto spike_init_error;
- }
-
-// spike_ctl.rx_buff = kmalloc(SPI_BUFF_SIZE, GFP_KERNEL | GFP_DMA);
-spike_ctl.rx_buff = dma_alloc_coherent(&(spike_dev.spi_device->dev), SPI_BUFF_SIZE, &spike_ctl.rx_dma, GFP_ATOMIC);
- if (!spike_ctl.rx_buff) {
- error = -ENOMEM;
- goto spike_init_error;
- }
-*/
return 0;
spike_init_error:
-
if (spike_ctl.tx_buff) {
kfree(spike_ctl.tx_buff);
spike_ctl.tx_buff = 0;
-//dma_free_coherent(&(spike_dev.spi_device->dev), SPI_BUFF_SIZE, spike_ctl.tx_buff, spike_ctl.tx_dma);
-//spike_ctl.tx_dma = 0;
}
-
if (spike_ctl.rx_buff) {
kfree(spike_ctl.rx_buff);
spike_ctl.rx_buff = 0;
-//dma_free_coherent(&(spike_dev.spi_device->dev), SPI_BUFF_SIZE, spike_ctl.rx_buff, spike_ctl.rx_dma);
-//spike_ctl.rx_dma = 0;
}
-
return error;
}
-
-
+/*
+ * spike_dev.devt cdev初期化
+ */
static int __init spike_init_cdev(void)
{
int error;
- spike_dev.devt = MKDEV(0, 0);
+ spike_dev.devt = MKDEV(0, 0); // デバイス番号自動割り当て
error = alloc_chrdev_region(&spike_dev.devt, 0, 1, this_driver_name);
if (error < 0) {
return 0;
}
-
+/*
+ * spike_dev.class 初期化
+ * デバイスファイル/dev/spikeadX作る
+ */
static int __init spike_init_class(void)
{
spike_dev.class = class_create(THIS_MODULE, this_driver_name);
return 0;
}
-int spike_init_gpio(void)
+// GPIO関係初期化
+static int spike_init_gpio(void)
{
if (gpio_request(GPIO_DRDY_IN, "GPIO_DRDY_IN")) {
printk(KERN_ALERT "gpio_request(GPIO_DRDY_IN) failed\n");
goto init_gpio_fail_1;
}
-
if (gpio_direction_input(GPIO_DRDY_IN)) {
printk(KERN_ALERT "gpio_direction_input(GPIO_DRDY_IN) failed\n");
goto init_gpio_fail_2;
gpio_free(GPIO_DRDY_IN);
init_gpio_fail_1:
-
return -1;
}
void spike_free_gpio(void)
gpio_free(GPIO_TOGGLE_OUT);
#endif
}
-int spike_init_irq(void)
+// DRDY割り込み初期化
+static int spike_init_irq(void)
{
int result;
- spike_ctl.irq = OMAP_GPIO_IRQ(GPIO_DRDY_IN);
+// spike_ctl.irq = OMAP_GPIO_IRQ(GPIO_DRDY_IN);
+ spike_ctl.irq = gpio_to_irq(GPIO_DRDY_IN);
result = request_irq(spike_ctl.irq,
irq_handler,
IRQF_TRIGGER_FALLING,
- "spike",
+ MODULE_NAME,
&spike_ctl);
if (result < 0) {
return 0;
}
-void spike_free_irq(void)
+static void spike_free_irq(void)
{
free_irq(spike_ctl.irq, &spike_ctl);
}
-
+/*
+ * モジュール全体の初期化
+ */
static int __init spike_init(void)
{
+printk(KERN_INFO "%s %s\n", MODULE_NAME, __FUNCTION__);
memset(&spike_dev, 0, sizeof(spike_dev));
memset(&spike_ctl, 0, sizeof(spike_ctl));
- sema_init(&spike_dev.fop_sem, 1);
spin_lock_init(&spike_dev.spi_lock);
-
- sema_init(&spike_ctl.cmd_sem, 1);
+ sema_init(&spike_dev.fop_sem, 1); // spike_dev排他アクセス用セマフォ初期化
+ sema_init(&spike_ctl.cmd_sem, 1); // spike_ctl排他アクセス用セマフォ初期化
+ sema_init(&finfo.finfo_sem, 1); // finfo排他アクセス用セマフォ初期化
finfo.f_version = 0; // 未使用マーク
+
// リングバッファ初期化
ring_init();
- if (spike_init_cdev() < 0)
+ if (spike_init_cdev() < 0) {
+ printk(KERN_ALERT "call spike_init_cdev() FAILED\n");
goto fail_1;
+ }
- if (spike_init_class() < 0)
+//printk("call spike_init_class()\n");
+ if (spike_init_class() < 0) {
+ printk(KERN_ALERT "call spike_init_class() FAILED\n");
goto fail_2;
-
- if (spike_init_spi() < 0)
+ }
+ // spike_ctl初期化
+//printk("call spike_init_spi()\n");
+ if (spike_init_spi() < 0) {
+ printk(KERN_ALERT "call spike_init_spi() FAILED\n");
goto fail_3;
+ }
// DRDY GPIO144 Input config
- if (spike_init_gpio() < 0)
+//printk("call spike_init_gpio()\n");
+ if (spike_init_gpio() < 0) {
+ printk(KERN_ALERT "call spike_init_gpio() FAILED\n");
goto fail_4;
-#if 1
+ }
// DRDY GPIO144 Interrupt config
- if (spike_init_irq() < 0)
+//printk("call spike_init_irq()\n");
+ if (spike_init_irq() < 0) {
+ printk(KERN_ALERT "call spike_init_irq() FAILED\n");
goto fail_5;
-#endif
+ }
+ // SPI受信タイムアウト用タイマ
+ hrtimer_init(&spike_dev.timer, CLOCK_MONOTONIC, HRTIMER_MODE_REL);
+ spike_dev.timer.function = spike_timer_callback;
printk(KERN_INFO "%s %s initialized\n", MODULE_NAME, VERSION);
return 0;
return -1;
}
module_init(spike_init);
-
+/*
+ * モジュール全体の終了処理
+ */
static void __exit spike_exit(void)
{
- spi_unregister_device(spike_dev.spi_device);
- spi_unregister_driver(&spike_driver);
+ // DRDY割り込みOFF
+ disable_irq(spike_ctl.irq);
+printk(KERN_INFO "%s %s()\n", MODULE_NAME, __FUNCTION__);
-#if 1
spike_free_irq();
-#endif
spike_free_gpio();
+ // 割り込みかからないようにしてからタスクレットkill
+ tasklet_kill(&spike_tasklet); // DRDY割り込み用
+ tasklet_kill(&spike_spi_completion_tasklet); // SPI受信完了用
+
+//printk(KERN_INFO "spi_unregister_device()\n");
+ spi_unregister_device(spike_dev.spi_device); // spike_remove()呼ばれる
+//printk(KERN_INFO "spi_unregister_driver()\n");
+ spi_unregister_driver(&spike_driver);
device_destroy(spike_dev.class, spike_dev.devt);
class_destroy(spike_dev.class);
if (spike_ctl.tx_buff)
kfree(spike_ctl.tx_buff);
-//dma_free_coherent(&(spike_dev.spi_device->dev), SPI_BUFF_SIZE, spike_ctl.tx_buff, spike_ctl.tx_dma);
if (spike_ctl.rx_buff)
kfree(spike_ctl.rx_buff);
-//dma_free_coherent(&(spike_dev.spi_device->dev), SPI_BUFF_SIZE, spike_ctl.rx_buff, spike_ctl.rx_dma);
if (spike_dev.user_buff)
kfree(spike_dev.user_buff);
MODULE_AUTHOR("Naoya Takamura");
MODULE_DESCRIPTION("sciLog AD SPI driver based on spike");
MODULE_LICENSE("GPL");
-MODULE_VERSION("1.0");
+MODULE_VERSION(VERSION);
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