static void akm8975_ecs_close_done(struct akm8975_data *akm)
{
FUNCDBG("called");
mutex_lock(&akm->flags_lock);
mv_flag = 1;
mutex_unlock(&akm->flags_lock);
}
static rtems_device_driver grtm_close(rtems_device_major_number major, rtems_device_minor_number minor, void *arg)
{
struct grtm_priv *pDev;
struct drvmgr_dev *dev;
FUNCDBG();
if ( drvmgr_get_dev(&grtm_rmap_drv_info.general, minor, &dev) ) {
return RTEMS_INVALID_NUMBER;
}
pDev = (struct grtm_priv *)dev->priv;
if ( pDev->running ){
grtm_stop(pDev);
pDev->running = 0;
}
/* Reset core */
grtm_hw_reset(pDev);
/* Clear descriptor area just for sure */
MEMSET(pDev, pDev->bds, 0, 0x400);
/* Mark not open */
pDev->open = 0;
return RTEMS_SUCCESSFUL;
}
static int akm_aot_release(struct inode *inode, struct file *file)
{
FUNCDBG("called");
atomic_set(&open_flag, 0);
wake_up(&open_wq);
return 0;
}
static int akmd_release(struct inode *inode, struct file *file)
{
struct akm8975_data *akm = file->private_data;
FUNCDBG("called");
akm8975_ecs_close_done(akm);
return 0;
}
static irqreturn_t akm8975_interrupt(int irq, void *dev_id)
{
struct akm8975_data *akm = dev_id;
FUNCDBG("called");
complete(&akm->data_ready);
return IRQ_HANDLED;
}
static int akm_aot_ioctl(struct inode *inode, struct file *file,
unsigned int cmd, unsigned long arg)
{
void __user *argp = (void __user *) arg;
short flag;
struct akm8975_data *akm = file->private_data;
FUNCDBG("called");
switch (cmd) {
case ECS_IOCTL_APP_SET_MVFLAG:
if (copy_from_user(&flag, argp, sizeof(flag)))
return -EFAULT;
if (flag < 0 || flag > 1)
return -EINVAL;
break;
case ECS_IOCTL_APP_SET_DELAY:
if (copy_from_user(&flag, argp, sizeof(flag)))
return -EFAULT;
break;
default:
break;
}
mutex_lock(&akm->flags_lock);
switch (cmd) {
case ECS_IOCTL_APP_SET_MVFLAG:
mv_flag = flag;
break;
case ECS_IOCTL_APP_GET_MVFLAG:
flag = mv_flag;
break;
case ECS_IOCTL_APP_SET_DELAY:
akmd_delay = flag;
break;
case ECS_IOCTL_APP_GET_DELAY:
flag = akmd_delay;
break;
default:
return -ENOTTY;
}
mutex_unlock(&akm->flags_lock);
switch (cmd) {
case ECS_IOCTL_APP_GET_MVFLAG:
case ECS_IOCTL_APP_GET_DELAY:
if (copy_to_user(argp, &flag, sizeof(flag)))
return -EFAULT;
break;
default:
break;
}
return 0;
}
static int akmd_open(struct inode *inode, struct file *file)
{
int err = 0;
FUNCDBG("called");
err = nonseekable_open(inode, file);
if (err)
return err;
file->private_data = akmd_data;
return 0;
}
static rtems_device_driver grtm_open(
rtems_device_major_number major,
rtems_device_minor_number minor,
void *arg)
{
struct grtm_priv *pDev;
struct drvmgr_dev *dev;
FUNCDBG();
if ( drvmgr_get_dev(&grtm_rmap_drv_info.general, minor, &dev) ) {
DBG("Wrong minor %d\n", minor);
return RTEMS_INVALID_NUMBER;
}
pDev = (struct grtm_priv *)dev->priv;
/* Wait until we get semaphore */
if ( rtems_semaphore_obtain(grtm_dev_sem, RTEMS_WAIT, RTEMS_NO_TIMEOUT) != RTEMS_SUCCESSFUL ){
return RTEMS_INTERNAL_ERROR;
}
/* Is device in use? */
if ( pDev->open ){
rtems_semaphore_release(grtm_dev_sem);
return RTEMS_RESOURCE_IN_USE;
}
/* Mark device taken */
pDev->open = 1;
rtems_semaphore_release(grtm_dev_sem);
DBG("grtm_open: OPENED minor %d (pDev: 0x%x)\n",pDev->minor,(unsigned int)pDev);
/* Set defaults */
pDev->config.timeout = RTEMS_NO_TIMEOUT; /* no timeout (wait forever) */
pDev->config.blocking = 0; /* polling mode */
pDev->running = 0; /* not in running mode yet */
memset(&pDev->config,0,sizeof(pDev->config));
/* The core has been reset when we execute here, so it is possible
* to read out what HW is implemented from core.
*/
grtm_hw_get_implementation(pDev, &pDev->hw_avail);
/* Get default modes */
grtm_hw_get_default_modes(&pDev->config,&pDev->hw_avail);
return RTEMS_SUCCESSFUL;
}
static int __devexit akm8975_remove(struct i2c_client *client)
{
struct akm8975_data *akm = i2c_get_clientdata(client);
FUNCDBG("called");
gpio_free(irq_to_gpio(client->irq));
free_irq(client->irq, NULL);
input_unregister_device(akm->input_dev);
misc_deregister(&akmd_device);
misc_deregister(&akm_aot_device);
akm8975_power_off(akm);
kfree(akm);
return 0;
}
static int akm_aot_open(struct inode *inode, struct file *file)
{
int ret = -1;
FUNCDBG("called");
if (atomic_cmpxchg(&open_flag, 0, 1) == 0) {
wake_up(&open_wq);
ret = 0;
}
ret = nonseekable_open(inode, file);
if (ret)
return ret;
file->private_data = akmd_data;
return ret;
}
static void akm8975_ecs_report_value(struct akm8975_data *akm, int *rbuf)
{
struct akm8975_data *data = i2c_get_clientdata(akm->this_client);
FUNCDBG("called");
#if AK8975DRV_DATA_DBG
pr_info("Magnetic: x = %d , y = %d , z = %d \n\n",
rbuf[0], rbuf[1], rbuf[2]);
#endif
mutex_lock(&akm->flags_lock);
if (mv_flag) {
input_report_abs(data->input_dev, ABS_HAT0X, rbuf[0]);
input_report_abs(data->input_dev, ABS_HAT0Y, rbuf[1]);
input_report_abs(data->input_dev, ABS_BRAKE, rbuf[2]);
}
mutex_unlock(&akm->flags_lock);
input_sync(data->input_dev);
}
/*
* Helper function to write to the I2C device's registers.
*/
static int akm8975_i2c_txdata(struct akm8975_data *akm, u8 reg, u8 val)
{
struct i2c_msg msg;
u8 w_data[2];
int ret = 0;
w_data[0] = reg;
w_data[1] = val;
msg.addr = akm->this_client->addr;
msg.flags = 0;
msg.len = 2;
msg.buf = w_data;
FUNCDBG("called");
ret = i2c_transfer(akm->this_client->adapter, &msg, 1);
if (ret < 0) {
dev_err(&akm->this_client->dev, "Write to device fails status %x\n", ret);
}
return ret;
}
int akm8975_probe(struct i2c_client *client,
const struct i2c_device_id *devid)
{
struct akm8975_data *akm;
int err;
FUNCDBG("called");
if (client->dev.platform_data == NULL) {
dev_err(&client->dev, "platform data is NULL. exiting.\n");
err = -ENODEV;
goto exit_platform_data_null;
}
if (!i2c_check_functionality(client->adapter, I2C_FUNC_I2C)) {
dev_err(&client->dev, "platform data is NULL. exiting.\n");
err = -ENODEV;
goto exit_check_functionality_failed;
}
akm = kzalloc(sizeof(struct akm8975_data), GFP_KERNEL);
if (!akm) {
dev_err(&client->dev,
"failed to allocate memory for module data\n");
err = -ENOMEM;
goto exit_alloc_data_failed;
}
akm->pdata = client->dev.platform_data;
mutex_init(&akm->flags_lock);
init_completion(&akm->data_ready);
i2c_set_clientdata(client, akm);
err = akm8975_power_on(akm);
if (err < 0)
goto exit_power_on_failed;
akm8975_init_client(client);
akm->this_client = client;
akmd_data = akm;
akm->input_dev = input_allocate_device();
if (!akm->input_dev) {
err = -ENOMEM;
dev_err(&akm->this_client->dev,
"input device allocate failed\n");
goto exit_input_dev_alloc_failed;
}
set_bit(EV_ABS, akm->input_dev->evbit);
/* x-axis of raw magnetic vector */
input_set_abs_params(akm->input_dev, ABS_HAT0X, -4096, 4095, 0, 0);
/* y-axis of raw magnetic vector */
input_set_abs_params(akm->input_dev, ABS_HAT0Y, -4096, 4095, 0, 0);
/* z-axis of raw magnetic vector */
input_set_abs_params(akm->input_dev, ABS_BRAKE, -4096, 4095, 0, 0);
akm->input_dev->name = "compass";
err = input_register_device(akm->input_dev);
if (err) {
pr_err("akm8975_probe: Unable to register input device: %s\n",
akm->input_dev->name);
goto exit_input_register_device_failed;
}
err = misc_register(&akmd_device);
if (err) {
pr_err("akm8975_probe: akmd_device register failed\n");
goto exit_misc_device_register_failed;
}
err = misc_register(&akm_aot_device);
if (err) {
pr_err("akm8975_probe: akm_aot_device register failed\n");
goto exit_misc_device_register_failed;
}
err = device_create_file(&client->dev, &dev_attr_akm_ms1);
#ifdef CONFIG_HAS_EARLYSUSPEND
akm->early_suspend.suspend = akm8975_early_suspend;
akm->early_suspend.resume = akm8975_early_resume;
register_early_suspend(&akm->early_suspend);
#endif
return 0;
exit_misc_device_register_failed:
exit_input_register_device_failed:
input_free_device(akm->input_dev);
exit_input_dev_alloc_failed:
akm8975_power_off(akm);
exit_power_on_failed:
kfree(akm);
exit_alloc_data_failed:
exit_check_functionality_failed:
exit_platform_data_null:
return err;
}
static rtems_device_driver grtm_ioctl(rtems_device_major_number major, rtems_device_minor_number minor, void *arg)
{
struct grtm_priv *pDev;
struct drvmgr_dev *dev;
rtems_libio_ioctl_args_t *ioarg = (rtems_libio_ioctl_args_t *)arg;
unsigned int *data = ioarg->buffer;
int status;
struct grtm_ioc_config *cfg;
struct grtm_ioc_hw_status *hwregs;
IRQ_GLOBAL_PREPARE(oldLevel);
struct grtm_list *chain;
struct grtm_frame *curr;
struct grtm_ioc_hw *hwimpl;
struct grtm_ioc_stats *stats;
int num,ret;
FUNCDBG();
if ( drvmgr_get_dev(&grtm_rmap_drv_info.general, minor, &dev) ) {
return RTEMS_INVALID_NUMBER;
}
pDev = (struct grtm_priv *)dev->priv;
if (!ioarg)
return RTEMS_INVALID_NAME;
ioarg->ioctl_return = 0;
switch(ioarg->command) {
case GRTM_IOC_START:
if ( pDev->running ) {
return RTEMS_RESOURCE_IN_USE; /* EBUSY */
}
if ( (status=grtm_start(pDev)) != RTEMS_SUCCESSFUL ){
return status;
}
/* Register ISR & Enable interrupt */
drvmgr_interrupt_register(dev, 0, "grtm_rmap", grtm_interrupt, pDev);
/* Read and write are now open... */
break;
case GRTM_IOC_STOP:
if ( !pDev->running ) {
return RTEMS_RESOURCE_IN_USE;
}
/* Disable interrupts */
drvmgr_interrupt_unregister(dev, 0, grtm_interrupt, pDev);
grtm_stop(pDev);
pDev->running = 0;
break;
case GRTM_IOC_ISSTARTED:
if ( !pDev->running ) {
return RTEMS_RESOURCE_IN_USE;
}
break;
case GRTM_IOC_SET_BLOCKING_MODE:
if ( (unsigned int)data > GRTM_BLKMODE_BLK ) {
return RTEMS_INVALID_NAME;
}
DBG("GRTM: Set blocking mode: %d\n",(unsigned int)data);
pDev->config.blocking = (unsigned int)data;
break;
case GRTM_IOC_SET_TIMEOUT:
DBG("GRTM: Timeout: %d\n",(unsigned int)data);
pDev->config.timeout = (rtems_interval)data;
break;
case GRTM_IOC_SET_CONFIG:
cfg = (struct grtm_ioc_config *)data;
if ( !cfg ) {
return RTEMS_INVALID_NAME;
}
if ( pDev->running ) {
return RTEMS_RESOURCE_IN_USE;
}
pDev->config = *cfg;
break;
case GRTM_IOC_GET_STATS:
stats = (struct grtm_ioc_stats *)data;
if ( !stats ) {
return RTEMS_INVALID_NAME;
}
memcpy(stats,&pDev->stats,sizeof(struct grtm_ioc_stats));
break;
case GRTM_IOC_CLR_STATS:
memset(&pDev->stats,0,sizeof(struct grtm_ioc_stats));
break;
case GRTM_IOC_GET_CONFIG:
cfg = (struct grtm_ioc_config *)data;
if ( !cfg ) {
return RTEMS_INVALID_NAME;
}
*cfg = pDev->config;
break;
case GRTM_IOC_GET_OCFREG:
if ( !pDev->hw_avail.ocf ) {
/* Hardware does not implement the OCF register */
return RTEMS_NOT_DEFINED;
}
if ( !data ) {
return RTEMS_INVALID_NAME;
}
#warning THIS IOCTL COPY THE REMOTE ADDRESS
*(unsigned int **)data = (unsigned int *)&pDev->regs->ocf;
break;
case GRTM_IOC_GET_HW_IMPL:
hwimpl = (struct grtm_ioc_hw *)data;
if ( !hwimpl ) {
return RTEMS_INVALID_NAME;
}
*hwimpl = pDev->hw_avail;
break;
case GRTM_IOC_GET_HW_STATUS:
hwregs = (struct grtm_ioc_hw_status *)data;
if ( !hwregs ) {
return RTEMS_INVALID_NAME;
}
/* We disable interrupt in order to get a snapshot of the registers */
IRQ_GLOBAL_DISABLE(oldLevel);
#warning IMPLEMENT HWREGS HERE
IRQ_GLOBAL_ENABLE(oldLevel);
break;
/* Put a chain of frames at the back of the "Ready frames" queue. This
* triggers the driver to put frames from the Ready queue into unused
* available descriptors. (Ready -> Scheduled)
*/
case GRTM_IOC_SEND:
if ( !pDev->running ){
return RTEMS_RESOURCE_IN_USE;
}
num=0;
/* Get pointer to frame chain wished be sent */
chain = (struct grtm_list *)ioarg->buffer;
if ( !chain ){
/* No new frames to send ==> just trigger hardware
* to send previously made ready frames to be sent.
*/
rtems_semaphore_obtain(pDev->handling_transmission, RTEMS_WAIT, RTEMS_NO_TIMEOUT);
goto trigger_transmission;
}
if ( !chain->tail || !chain->head ){
return RTEMS_INVALID_NAME;
}
DBG("GRTM_SEND: head: 0x%x, tail: 0x%x\n",chain->head,chain->tail);
/* Mark ready frames unsent by clearing GRTM_FLAGS_SENT of all frames */
curr = chain->head;
while(curr != chain->tail){
curr->flags = curr->flags & ~(GRTM_FLAGS_SENT|GRRM_FLAGS_ERR);
curr = curr->next;
num++;
}
curr->flags = curr->flags & ~(GRTM_FLAGS_SENT|GRRM_FLAGS_ERR);
num++;
rtems_semaphore_obtain(pDev->handling_transmission, RTEMS_WAIT, RTEMS_NO_TIMEOUT);
/* 1. Put frames into ready queue
* (New Frames->READY)
*/
if ( pDev->ready.head ){
/* Frames already on ready queue (no free descriptors previously) ==>
* Put frames at end of ready queue
*/
pDev->ready.tail->next = chain->head;
pDev->ready.tail = chain->tail;
chain->tail->next = NULL;
}else{
/* All frames is put into the ready queue for later processing */
pDev->ready.head = chain->head;
pDev->ready.tail = chain->tail;
chain->tail->next = NULL;
}
pDev->ready_cnt += num; /* Added 'num' frames to ready queue */
trigger_transmission:
/* 2. Free used descriptors and put the sent frame into the "Sent queue"
* (SCHEDULED->SENT)
*/
num = grtm_free_sent(pDev);
pDev->scheduled_cnt -= num;
pDev->sent_cnt += num;
/* 3. Use all available free descriptors there are frames for
* in the ready queue.
* (READY->SCHEDULED)
*/
num = grtm_schedule_ready(pDev,0);
pDev->ready_cnt -= num;
pDev->scheduled_cnt += num;
rtems_semaphore_release(pDev->handling_transmission);
break;
/* Take all available sent frames from the "Sent frames" queue.
* If no frames has been sent, the thread may get blocked if in blocking
* mode. The blocking mode is not available if driver is not in running mode.
*
* Note this ioctl may return success even if the driver is not in STARTED mode.
* This is because in case of a error (link error of similar) and the driver switch
* from START to STOP mode we must still be able to get our frames back.
*
* Note in case the driver fails to send a frame for some reason (link error),
* the sent flag is set to 0 indicating a failure.
*
*/
case GRTM_IOC_RECLAIM:
/* Get pointer to were to place reaped chain */
chain = (struct grtm_list *)ioarg->buffer;
if ( !chain ){
return RTEMS_INVALID_NAME;
}
/* Lock out interrupt handler */
rtems_semaphore_obtain(pDev->handling_transmission, RTEMS_WAIT, RTEMS_NO_TIMEOUT);
do {
/* Move sent frames from descriptors to Sent queue. This makes more
* descriptors (BDs) available.
*/
num = grtm_free_sent(pDev);
pDev->scheduled_cnt -= num;
pDev->sent_cnt += num;
if ( pDev->running ){
/* Fill descriptors with as many frames from the ready list
* as possible.
*/
num = grtm_schedule_ready(pDev,0);
pDev->ready_cnt -= num;
pDev->scheduled_cnt += num;
}
/* Are there any frames on the sent queue waiting to be
* reclaimed?
*/
if ( !pDev->sent.head ){
/* No frames to reclaim - no frame in sent queue.
* Instead we block thread until frames have been sent
* if in blocking mode.
*/
if ( pDev->running && pDev->config.blocking ){
ret = rtems_semaphore_obtain(pDev->sem_tx,RTEMS_WAIT,pDev->config.timeout);
if ( ret == RTEMS_TIMEOUT ) {
/* do not lock out interrupt handler any more */
rtems_semaphore_release(pDev->handling_transmission);
return RTEMS_TIMEOUT;
} else if ( ret == RTEMS_SUCCESSFUL ) {
/* There might be frames available, go check */
continue;
} else {
/* any error (driver closed, internal error etc.) */
rtems_semaphore_release(pDev->handling_transmission);
return RTEMS_UNSATISFIED;
}
}else{
/* non-blocking mode, we quit */
chain->head = NULL;
chain->tail = NULL;
/* do not lock out interrupt handler any more */
rtems_semaphore_release(pDev->handling_transmission);
return RTEMS_TIMEOUT;
}
}else{
/* Take all sent framess from sent queue to userspace queue */
chain->head = pDev->sent.head;
chain->tail = pDev->sent.tail;
chain->tail->next = NULL; /* Just for sure */
/* Mark no Sent */
grtm_list_clr(&pDev->sent);
DBG("TX_RECLAIM: head: 0x%x, tail: 0x%x\n",chain->head,chain->tail);
break;
}
}while(1);
/* do not lock out interrupt handler any more */
rtems_semaphore_release(pDev->handling_transmission);
break;
default:
return RTEMS_NOT_DEFINED;
}
return RTEMS_SUCCESSFUL;
}
static rtems_device_driver grtm_write(rtems_device_major_number major, rtems_device_minor_number minor, void *arg)
{
FUNCDBG();
return RTEMS_NOT_IMPLEMENTED;
}
static int akmd_ioctl(struct inode *inode, struct file *file, unsigned int cmd,
unsigned long arg)
{
void __user *argp = (void __user *) arg;
char rwbuf[16];
char databuf[RBUFF_SIZE];
int ret = -1;
int status;
int value[3];
short delay;
short mode;
struct akm8975_data *akm = file->private_data;
FUNCDBG("called");
switch (cmd) {
case ECS_IOCTL_READ:
case ECS_IOCTL_WRITE:
if (copy_from_user(&rwbuf, argp, sizeof(rwbuf)))
return -EFAULT;
break;
case ECS_IOCTL_SET_MODE:
if (copy_from_user(&mode, argp, sizeof(mode)))
return -EFAULT;
break;
case ECS_IOCTL_SET_YPR:
if (copy_from_user(&value, argp, sizeof(value)))
return -EFAULT;
break;
default:
break;
}
switch (cmd) {
case ECS_IOCTL_READ:
if ((rwbuf[0] > AK8975_FUSE_ASAZ) || (rwbuf[1] < 1) ||
(rwbuf[1] > 3)) {
pr_err("AKM8975 IOCTL_READ invalid argument: %d, %d\n",
(int)rwbuf[0], (int)rwbuf[1]);
return -EINVAL;
}
ret = akm8975_i2c_rxdata(akm, rwbuf[0], rwbuf[1], &rwbuf[2]);
if (ret < 0)
return ret;
break;
case ECS_IOCTL_WRITE:
if (rwbuf[0] < 2)
return -EINVAL;
ret = akm8975_i2c_txdata(akm, rwbuf[0], rwbuf[1]);
if (ret < 0)
return ret;
break;
case ECS_IOCTL_SET_MODE:
ret = akm8975_ecs_set_mode(akm, (char) mode);
if (ret < 0)
return ret;
if (mode == AK8975_MODE_SNG_MEASURE) {
/* wait for data to become ready */
ret = wait_for_completion_interruptible_timeout(&akm->data_ready,
msecs_to_jiffies(AK8975_MAX_CONVERSION_TIMEOUT));
if (ret < 0) {
pr_err("AKM8975 conversion timeout happened\n");
return -EINVAL;
}
}
break;
case ECS_IOCTL_GETDATA:
ret = akm8975_ecs_get_data(akm, RBUFF_SIZE, databuf);
if (ret < 0)
return ret;
case ECS_IOCTL_SET_YPR:
akm8975_ecs_report_value(akm, value);
break;
case ECS_IOCTL_GET_OPEN_STATUS:
wait_event_interruptible(open_wq,
(atomic_read(&open_flag) != 0));
status = atomic_read(&open_flag);
break;
case ECS_IOCTL_GET_CLOSE_STATUS:
wait_event_interruptible(open_wq,
(atomic_read(&open_flag) == 0));
status = atomic_read(&open_flag);
break;
case ECS_IOCTL_GET_DELAY:
delay = akmd_delay;
break;
default:
FUNCDBG("Unknown cmd\n");
return -ENOTTY;
}
switch (cmd) {
case ECS_IOCTL_READ:
if (copy_to_user(argp, &rwbuf[2], rwbuf[1]))
return -EFAULT;
break;
case ECS_IOCTL_GETDATA:
if (copy_to_user(argp, &databuf, RBUFF_SIZE))
return -EFAULT;
break;
case ECS_IOCTL_GET_OPEN_STATUS:
case ECS_IOCTL_GET_CLOSE_STATUS:
if (copy_to_user(argp, &status, sizeof(status)))
return -EFAULT;
break;
case ECS_IOCTL_GET_DELAY:
if (copy_to_user(argp, &delay, sizeof(delay)))
return -EFAULT;
break;
default:
break;
}
return 0;
}
static void __exit akm8975_exit(void)
{
FUNCDBG("AK8975 compass driver: exit\n");
i2c_del_driver(&akm8975_driver);
}
static int __init akm8975_init(void)
{
pr_info("AK8975 compass driver: init\n");
FUNCDBG("AK8975 compass driver: init\n");
return i2c_add_driver(&akm8975_driver);
}
