static int __devinit bfin_tdm_probe(struct platform_device *pdev)
{
int ret = 0;
if (peripheral_request_list(&sport_req[sport_num][0], "soc-audio")) {
pr_err("Requesting Peripherals failed\n");
return -EFAULT;
}
/* request DMA for SPORT */
sport_handle = sport_init(&sport_params[sport_num], 4, \
8 * sizeof(u32), NULL);
if (!sport_handle) {
peripheral_free_list(&sport_req[sport_num][0]);
return -ENODEV;
}
/* SPORT works in TDM mode */
ret = sport_set_multichannel(sport_handle, 8, 0xFF, 1);
if (ret) {
pr_err("SPORT is busy!\n");
ret = -EBUSY;
goto sport_config_err;
}
ret = sport_config_rx(sport_handle, IRFS, 0x1F, 0, 0);
if (ret) {
pr_err("SPORT is busy!\n");
ret = -EBUSY;
goto sport_config_err;
}
ret = sport_config_tx(sport_handle, ITFS, 0x1F, 0, 0);
if (ret) {
pr_err("SPORT is busy!\n");
ret = -EBUSY;
goto sport_config_err;
}
ret = snd_soc_register_dai(&bf5xx_tdm_dai);
if (ret) {
pr_err("Failed to register DAI: %d\n", ret);
goto sport_config_err;
}
sport_handle->private_data = &bf5xx_tdm;
return 0;
sport_config_err:
peripheral_free_list(&sport_req[sport_num][0]);
return ret;
}
static int __devinit bfin_tdm_probe(struct platform_device *pdev)
{
struct sport_device *sport_handle;
int ret;
/* configure SPORT for TDM */
sport_handle = sport_init(pdev, 4, 8 * sizeof(u32),
sizeof(struct bf5xx_tdm_port));
if (!sport_handle)
return -ENODEV;
/* SPORT works in TDM mode */
ret = sport_set_multichannel(sport_handle, 8, 0xFF, 1);
if (ret) {
pr_err("SPORT is busy!\n");
ret = -EBUSY;
goto sport_config_err;
}
ret = sport_config_rx(sport_handle, 0, 0x1F, 0, 0);
if (ret) {
pr_err("SPORT is busy!\n");
ret = -EBUSY;
goto sport_config_err;
}
ret = sport_config_tx(sport_handle, 0, 0x1F, 0, 0);
if (ret) {
pr_err("SPORT is busy!\n");
ret = -EBUSY;
goto sport_config_err;
}
ret = snd_soc_register_dai(&pdev->dev, &bf5xx_tdm_dai);
if (ret) {
pr_err("Failed to register DAI: %d\n", ret);
goto sport_config_err;
}
return 0;
sport_config_err:
sport_done(sport_handle);
return ret;
}
static int __devinit bf5xx_i2s_probe(struct platform_device *pdev)
{
struct sport_device *sport_handle;
int ret;
/* configure SPORT for I2S */
sport_handle = sport_init(pdev, 4, 2 * sizeof(u32),
sizeof(struct bf5xx_i2s_port));
if (!sport_handle)
return -ENODEV;
/* register with the ASoC layers */
ret = snd_soc_register_dai(&pdev->dev, &bf5xx_i2s_dai);
if (ret) {
pr_err("Failed to register DAI: %d\n", ret);
sport_done(sport_handle);
return ret;
}
return 0;
}
static int bf5xx_probe(struct platform_device *pdev)
{
u16 sport_req[][7] = {PIN_REQ_SPORT_0, PIN_REQ_SPORT_1};
if (peripheral_request_list(&sport_req[sport_num][0], "soc-audio")) {
printk(KERN_ERR "Requesting Peripherals faild\n");
return -EFAULT;
}
#ifdef CONFIG_SND_BF5XX_HAVE_COLD_RESET
/* Request PB3 as reset pin */
if (gpio_request(CONFIG_SND_BF5XX_RESET_GPIO_NUM, "SND_AD198x RESET")) {
printk(KERN_ERR "Failed to request GPIO_%d for reset\n",
CONFIG_SND_BF5XX_RESET_GPIO_NUM);
peripheral_free_list(&sport_req[sport_num][0]);
return -1;
}
gpio_direction_output(CONFIG_SND_BF5XX_RESET_GPIO_NUM);
gpio_set_value(CONFIG_SND_BF5XX_RESET_GPIO_NUM, 1);
#endif
sport_handle = sport_init(&sport_params[sport_num], 2, \
10 * sizeof(struct ac97_frame), NULL);
if (!sport_handle) {
peripheral_free_list(&sport_req[sport_num][0]);
#ifdef CONFIG_SND_BF5XX_HAVE_COLD_RESET
gpio_free(CONFIG_SND_BF5XX_RESET_GPIO_NUM);
#endif
return -ENODEV;
}
sport_set_multichannel(sport_handle, 16, 0x1F, 1);
sport_config_rx(sport_handle, IRFS, 0xF, 0, (16*16-1));
sport_config_tx(sport_handle, ITFS, 0xF, 0, (16*16-1));
return 0;
}
// set_mode - change flight mode and perform any necessary initialisation
// optional force parameter used to force the flight mode change (used only first time mode is set)
// returns true if mode was successfully set
// ACRO, STABILIZE, ALTHOLD, LAND, DRIFT and SPORT can always be set successfully but the return state of other flight modes should be checked and the caller should deal with failures appropriately
bool Copter::set_mode(control_mode_t mode, mode_reason_t reason)
{
// boolean to record if flight mode could be set
bool success = false;
bool ignore_checks = !motors.armed(); // allow switching to any mode if disarmed. We rely on the arming check to perform
// return immediately if we are already in the desired mode
if (mode == control_mode) {
prev_control_mode = control_mode;
prev_control_mode_reason = control_mode_reason;
control_mode_reason = reason;
return true;
}
switch(mode) {
case ACRO:
#if FRAME_CONFIG == HELI_FRAME
success = heli_acro_init(ignore_checks);
#else
success = acro_init(ignore_checks);
#endif
break;
case STABILIZE:
#if FRAME_CONFIG == HELI_FRAME
success = heli_stabilize_init(ignore_checks);
#else
success = stabilize_init(ignore_checks);
#endif
break;
case ALT_HOLD:
success = althold_init(ignore_checks);
break;
case AUTO:
success = auto_init(ignore_checks);
break;
case CIRCLE:
success = circle_init(ignore_checks);
break;
case LOITER:
success = loiter_init(ignore_checks);
break;
case GUIDED:
success = guided_init(ignore_checks);
break;
case LAND:
success = land_init(ignore_checks);
break;
case RTL:
success = rtl_init(ignore_checks);
break;
case DRIFT:
success = drift_init(ignore_checks);
break;
case SPORT:
success = sport_init(ignore_checks);
break;
case ALT_POS:
success = altpos_init(ignore_checks);
break;
case FLIP:
success = flip_init(ignore_checks);
break;
#if AUTOTUNE_ENABLED == ENABLED
case AUTOTUNE:
success = autotune_init(ignore_checks);
break;
#endif
#if POSHOLD_ENABLED == ENABLED
case POSHOLD:
success = poshold_init(ignore_checks);
break;
#endif
case BRAKE:
success = brake_init(ignore_checks);
break;
case THROW:
success = throw_init(ignore_checks);
break;
case AVOID_ADSB:
success = avoid_adsb_init(ignore_checks);
break;
case GUIDED_NOGPS:
success = guided_nogps_init(ignore_checks);
break;
default:
success = false;
break;
}
// update flight mode
if (success) {
// perform any cleanup required by previous flight mode
exit_mode(control_mode, mode);
prev_control_mode = control_mode;
prev_control_mode_reason = control_mode_reason;
control_mode = mode;
control_mode_reason = reason;
DataFlash.Log_Write_Mode(control_mode, control_mode_reason);
adsb.set_is_auto_mode((mode == AUTO) || (mode == RTL) || (mode == GUIDED));
#if AC_FENCE == ENABLED
// pilot requested flight mode change during a fence breach indicates pilot is attempting to manually recover
// this flight mode change could be automatic (i.e. fence, battery, GPS or GCS failsafe)
// but it should be harmless to disable the fence temporarily in these situations as well
fence.manual_recovery_start();
#endif
}else{
// Log error that we failed to enter desired flight mode
Log_Write_Error(ERROR_SUBSYSTEM_FLIGHT_MODE,mode);
}
// update notify object
if (success) {
notify_flight_mode(control_mode);
}
// return success or failure
return success;
}
static int bf5xx_ac97_probe(struct platform_device *pdev,
struct snd_soc_dai *dai)
{
int ret = 0;
cmd_count = (int *)get_zeroed_page(GFP_KERNEL);
if (cmd_count == NULL)
return -ENOMEM;
if (peripheral_request_list(sport_req[sport_num], "soc-audio")) {
pr_err("Requesting Peripherals failed\n");
ret = -EFAULT;
goto peripheral_err;
}
#ifdef CONFIG_SND_BF5XX_HAVE_COLD_RESET
/* Request PB3 as reset pin */
if (gpio_request(CONFIG_SND_BF5XX_RESET_GPIO_NUM, "SND_AD198x RESET")) {
pr_err("Failed to request GPIO_%d for reset\n",
CONFIG_SND_BF5XX_RESET_GPIO_NUM);
ret = -1;
goto gpio_err;
}
gpio_direction_output(CONFIG_SND_BF5XX_RESET_GPIO_NUM, 1);
#endif
sport_handle = sport_init(&sport_params[sport_num], 2, \
sizeof(struct ac97_frame), NULL);
if (!sport_handle) {
ret = -ENODEV;
goto sport_err;
}
/*SPORT works in TDM mode to simulate AC97 transfers*/
#if defined(CONFIG_SND_BF5XX_MULTICHAN_SUPPORT)
ret = sport_set_multichannel(sport_handle, 16, 0x3FF, 1);
#else
ret = sport_set_multichannel(sport_handle, 16, 0x1F, 1);
#endif
if (ret) {
pr_err("SPORT is busy!\n");
ret = -EBUSY;
goto sport_config_err;
}
ret = sport_config_rx(sport_handle, IRFS, 0xF, 0, (16*16-1));
if (ret) {
pr_err("SPORT is busy!\n");
ret = -EBUSY;
goto sport_config_err;
}
ret = sport_config_tx(sport_handle, ITFS, 0xF, 0, (16*16-1));
if (ret) {
pr_err("SPORT is busy!\n");
ret = -EBUSY;
goto sport_config_err;
}
return 0;
sport_config_err:
kfree(sport_handle);
sport_err:
#ifdef CONFIG_SND_BF5XX_HAVE_COLD_RESET
gpio_free(CONFIG_SND_BF5XX_RESET_GPIO_NUM);
gpio_err:
#endif
peripheral_free_list(sport_req[sport_num]);
peripheral_err:
free_page((unsigned long)cmd_count);
cmd_count = NULL;
return ret;
}
static int __devinit asoc_bfin_ac97_probe(struct platform_device *pdev)
{
struct sport_device *sport_handle;
int ret;
#ifdef CONFIG_SND_BF5XX_HAVE_COLD_RESET
/* Request PB3 as reset pin */
if (gpio_request(CONFIG_SND_BF5XX_RESET_GPIO_NUM, "SND_AD198x RESET")) {
pr_err("Failed to request GPIO_%d for reset\n",
CONFIG_SND_BF5XX_RESET_GPIO_NUM);
ret = -1;
goto gpio_err;
}
gpio_direction_output(CONFIG_SND_BF5XX_RESET_GPIO_NUM, 1);
#endif
sport_handle = sport_init(pdev, 2, sizeof(struct ac97_frame),
PAGE_SIZE);
if (!sport_handle) {
ret = -ENODEV;
goto sport_err;
}
/*SPORT works in TDM mode to simulate AC97 transfers*/
#if defined(CONFIG_SND_BF5XX_MULTICHAN_SUPPORT)
ret = sport_set_multichannel(sport_handle, 16, 0x3FF, 1);
#else
ret = sport_set_multichannel(sport_handle, 16, 0x1F, 1);
#endif
if (ret) {
pr_err("SPORT is busy!\n");
ret = -EBUSY;
goto sport_config_err;
}
ret = sport_config_rx(sport_handle, IRFS, 0xF, 0, (16*16-1));
if (ret) {
pr_err("SPORT is busy!\n");
ret = -EBUSY;
goto sport_config_err;
}
ret = sport_config_tx(sport_handle, ITFS, 0xF, 0, (16*16-1));
if (ret) {
pr_err("SPORT is busy!\n");
ret = -EBUSY;
goto sport_config_err;
}
ret = snd_soc_register_dai(&pdev->dev, &bfin_ac97_dai);
if (ret) {
pr_err("Failed to register DAI: %d\n", ret);
goto sport_config_err;
}
ac97_sport_handle = sport_handle;
return 0;
sport_config_err:
sport_done(sport_handle);
sport_err:
#ifdef CONFIG_SND_BF5XX_HAVE_COLD_RESET
gpio_free(CONFIG_SND_BF5XX_RESET_GPIO_NUM);
gpio_err:
#endif
return ret;
}