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rtmouse.c
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// SPDX-License-Identifier: GPL-2.0-only
/*
*
* rtmouse.c
* Jetson Nano Mouse device driver
*
* Version: 0.1.5
*
* Copyright (C) 2019-2020 RT Corporation <[email protected]>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; version 2.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301, USA.
*
*/
#include <linux/cdev.h>
#include <linux/delay.h>
#include <linux/device.h>
#include <linux/fs.h>
#include <linux/gpio.h>
#include <linux/i2c.h>
#include <linux/io.h>
#include <linux/module.h>
#include <linux/slab.h>
#include <linux/spi/spi.h>
#include <linux/uaccess.h>
MODULE_AUTHOR("RT Corporation");
MODULE_DESCRIPTION("A device driver of Jetson Nano Mouse");
MODULE_LICENSE("GPL");
MODULE_VERSION("0.1.6");
/* --- Options --- */
#define ALTERNATIVE_SPI_CS
//#define USE_EXTERNAL_CLOCK
/* --- GPIO Pins --- */
#define GPIO_LED0 13 // PIN22
#define GPIO_LED1 15 // PIN18
#define GPIO_LED2 232 // PIN16
#define GPIO_LED3 79 // PIN16
#define GPIO_SW0 78 // PIN40
#define GPIO_SW1 12 // PIN37
#define GPIO_SW2 77 // PIN38
#define GPIO_SEN_R 194 // PIN15
#define GPIO_SEN_L 149 // PIN29
#define GPIO_SEN_RF 14 // PI13
#define GPIO_SEN_LF 50 // PIN11
#define GPIO_MOTOR_EN 200 // PIN31
#define GPIO_MOTOR_DIR_R 168 // PIN32
#define GPIO_MOTOR_DIR_L 216 // PIN7
#define GPIO_SPI_CS 19 // PIN24
#define MAX_BUFLEN 64
#define DEBOUNCE_TIME 50
#define DEV_MAJOR 0
#define DEV_MINOR 0
#define REG_GPIO_NAME "Jetson Nano GPIO"
#define NUM_DEV_LED 4
#define NUM_DEV_SWITCH 3
#define NUM_DEV_SWITCHES 1
#define NUM_DEV_SENSOR 1
#define NUM_DEV_MOTOREN 1
#define NUM_DEV_MOTOR 1
#define NUM_DEV_TOTAL \
(NUM_DEV_LED + NUM_DEV_SWITCH + NUM_DEV_SWITCHES + NUM_DEV_SENSOR + \
NUM_DEV_MOTOREN + NUM_DEV_MOTOR)
#define NUM_DEV_CNTR 1
#define NUM_DEV_CNTL 1
#define NUM_DEV_RTCNT_TOTAL (NUM_DEV_CNTR + NUM_DEV_CNTL)
#define NUM_DEV_BUZZER 1
#define NUM_DEV_MOTORRAWR 1
#define NUM_DEV_MOTORRAWL 1
#define NUM_DEV_PWM_TOTAL \
(NUM_DEV_BUZZER + NUM_DEV_MOTORRAWR + NUM_DEV_MOTORRAWL)
/* I2C devices */
#define NUM_DEV_CNT 1
#define DRIVER_NAME "rtmouse"
#define DEVNAME_LED "rtled"
#define DEVNAME_SWITCH "rtswitch"
#define DEVNAME_SWITCHES "rtswitches"
#define DEVNAME_SENSOR "rtlightsensor"
#define DEVNAME_BUZZER "rtbuzzer"
#define DEVNAME_MOTOREN "rtmotoren"
#define DEVNAME_MOTOR "rtmotor"
#define DEVNAME_CNTR "rtcounter_r"
#define DEVNAME_CNTL "rtcounter_l"
#define DEVNAME_MOTORRAWR "rtmotor_raw_r"
#define DEVNAME_MOTORRAWL "rtmotor_raw_l"
static struct cdev *cdev_array = NULL;
static struct cdev *cdev_pwm_array = NULL;
static struct class *class_led = NULL;
static struct class *class_switch = NULL;
static struct class *class_switches = NULL;
static struct class *class_sensor = NULL;
static struct class *class_motoren = NULL;
static struct class *class_motor = NULL;
static struct class *class_buzzer = NULL;
static struct class *class_motorrawr = NULL;
static struct class *class_motorrawl = NULL;
static volatile int cdev_index = 0;
static volatile int cdev_pwm_index = 0;
static struct mutex lock;
static int _major_led = DEV_MAJOR;
static int _minor_led = DEV_MINOR;
static int _major_switch = DEV_MAJOR;
static int _minor_switch = DEV_MINOR;
static int _major_switches = DEV_MAJOR;
static int _minor_switches = DEV_MINOR;
static int _major_sensor = DEV_MAJOR;
static int _minor_sensor = DEV_MINOR;
static int _major_motoren = DEV_MAJOR;
static int _minor_motoren = DEV_MINOR;
static int _major_motor = DEV_MAJOR;
static int _minor_motor = DEV_MINOR;
static int _major_buzzer = DEV_MAJOR;
static int _minor_buzzer = DEV_MINOR;
static int _major_motorrawr = DEV_MAJOR;
static int _minor_motorrawr = DEV_MINOR;
static int _major_motorrawl = DEV_MAJOR;
static int _minor_motorrawl = DEV_MINOR;
/* SPI Parameters */
static int spi_bus_num = 0;
#ifndef ALTERNATIVE_SPI_CS
static int spi_chip_select = 0;
#endif
#ifdef ALTERNATIVE_SPI_CS
// To work around the problem of SPI_CS not working properly.
static int spi_chip_select = 1;
#endif
/* --- A/D Parameters --- */
#define MCP320X_PACKET_SIZE 3
#define MCP320X_DIFF 0
#define MCP320X_SINGLE 1
#define MCP3204_CHANNELS 4
/* --- A/D Channels --- */
#define R_AD_CH 3
#define L_AD_CH 0
#define RF_AD_CH 2
#define LF_AD_CH 1
/* I2C Parameters */
#define CNTL_I2C_ADDR 0x10
#define CNTR_I2C_ADDR 0x11
#define CNT_MSB_REG 0x10
#define CNT_LSB_REG 0x11
#define PCA9685_L_I2C_ADDR 0x40
#define PCA9685_R_I2C_ADDR 0x41
#define PCA9685_MODE1 0x00
#define PCA9685_MODE2 0x01
#define PCA9685_PRESCALE 0xFE
#define PCA9685_LED0_ON_L 0x06
#define PCA9685_LED0_ON_H 0x07
#define PCA9685_LED0_OFF_L 0x08
#define PCA9685_LED0_OFF_H 0x09
#define PCA9685_ALL_LED_ON_L 0xFA
#define PCA9685_ALL_LED_ON_H 0xFB
#define PCA9685_ALL_LED_OFF_L 0xFC
#define PCA9685_ALL_LED_OFF_H 0xFD
#define PCA9685_RESTART 0x80
#define PCA9685_SLEEP 0x10
#define PCA9685_ALLCALL 0x01
#define PCA9685_OUTDRV 0x04
#ifdef USE_EXTERNAL_CLOCK
#define PCA9685_CLOCK 0x40
#endif
#ifndef USE_EXTERNAL_CLOCK
#define PCA9685_CLOCK 0x00
#endif
/* Motor Parameter */
#define MOTOR_UNCONTROLLABLE_FREQ 5
/* --- Function Declarations --- */
static void set_motor_r_freq(int freq);
static void set_motor_l_freq(int freq);
static int mcp3204_remove(struct spi_device *spi);
static int mcp3204_probe(struct spi_device *spi);
static unsigned int mcp3204_get_value(int channel);
static int i2c_rtcnt_probe(struct i2c_client *client,
const struct i2c_device_id *id);
static int i2c_rtcnt_remove(struct i2c_client *client);
static int i2c_pwm_probe(struct i2c_client *client,
const struct i2c_device_id *id);
static int i2c_pwm_remove(struct i2c_client *client);
static ssize_t pwm_motorr_write_core(int pwm_freq);
static ssize_t pwm_motorl_write_core(int pwm_freq);
/* --- Variable Type definitions --- */
/* SPI */
struct mcp3204_drvdata {
struct spi_device *spi;
struct mutex lock;
unsigned char tx[MCP320X_PACKET_SIZE] ____cacheline_aligned;
unsigned char rx[MCP320X_PACKET_SIZE] ____cacheline_aligned;
struct spi_transfer xfer ____cacheline_aligned;
struct spi_message msg ____cacheline_aligned;
};
/* I2C */
struct i2c_device_info {
struct cdev cdev;
unsigned int device_major;
struct class *device_class;
struct i2c_client *client;
struct mutex lock;
};
/* --- Static variables --- */
/* SPI device ID */
static struct spi_device_id mcp3204_id[] = {
{"mcp3204", 0},
{},
};
/* SPI Info */
static struct spi_board_info mcp3204_info = {
.modalias = "mcp3204",
.max_speed_hz = 100000,
.bus_num = 0,
.chip_select = 0,
.mode = SPI_MODE_3,
};
/* SPI Dirver Info */
static struct spi_driver mcp3204_driver = {
.driver =
{
.name = DEVNAME_SENSOR,
.owner = THIS_MODULE,
},
.id_table = mcp3204_id,
.probe = mcp3204_probe,
.remove = mcp3204_remove,
};
/* I2C client */
static struct i2c_client *i2c_client_r = NULL;
static struct i2c_client *i2c_client_l = NULL;
static struct i2c_client *i2c_client_pwm0 = NULL;
static struct i2c_client *i2c_client_pwm1 = NULL;
/* I2C Device ID */
static struct i2c_device_id i2c_rtcnt_id[] = {
{DEVNAME_CNTL, 0},
{DEVNAME_CNTR, 1},
{},
};
static struct i2c_device_id i2c_pwm_id[] = {
{"pwmdriver0", 0},
{"pwmdriver1", 1},
{},
};
/* I2C Dirver Info */
static struct i2c_driver i2c_counter_driver = {
.driver =
{
.name = "rtcounter",
.owner = THIS_MODULE,
},
.id_table = i2c_rtcnt_id,
.probe = i2c_rtcnt_probe,
.remove = i2c_rtcnt_remove,
};
static struct i2c_driver i2c_pwm_driver = {
.driver =
{
.name = "pwmdriver",
.owner = THIS_MODULE,
},
.id_table = i2c_pwm_id,
.probe = i2c_pwm_probe,
.remove = i2c_pwm_remove,
};
static struct i2c_device_info *i2c_pwm0_dev_info;
static struct i2c_device_info *i2c_pwm1_dev_info;
/* -- Device Addition -- */
MODULE_DEVICE_TABLE(spi, mcp3204_id);
MODULE_DEVICE_TABLE(i2c, i2c_rtcnt_id);
MODULE_DEVICE_TABLE(i2c, i2c_pwm_id);
/*
* Turn On LEDs
* return 0 : device close
*/
static int led_put(int ledno)
{
switch (ledno) {
case 0:
gpio_set_value(GPIO_LED0, 1);
break;
case 1:
gpio_set_value(GPIO_LED1, 1);
break;
case 2:
gpio_set_value(GPIO_LED2, 1);
break;
case 3:
gpio_set_value(GPIO_LED3, 1);
break;
}
return 0;
}
/*
* Turn Off LEDs
* return 0 : device close
*/
static int led_del(int ledno)
{
switch (ledno) {
case 0:
gpio_set_value(GPIO_LED0, 0);
break;
case 1:
gpio_set_value(GPIO_LED1, 0);
break;
case 2:
gpio_set_value(GPIO_LED2, 0);
break;
case 3:
gpio_set_value(GPIO_LED3, 0);
break;
}
return 0;
}
/* left motor function */
static void set_motor_l_freq(int freq)
{
pwm_motorl_write_core(freq);
return;
}
/* right motor function */
static void set_motor_r_freq(int freq)
{
pwm_motorr_write_core(freq);
return;
}
/* --- Function for device file operations --- */
/* Parse motor command */
static int parseMotorCmd(const char __user *buf, size_t count, int *ret)
{
int r_motor_val, l_motor_val, time_val;
char *newbuf = kmalloc(sizeof(char) * count, GFP_KERNEL);
if (copy_from_user(newbuf, buf, sizeof(char) * count)) {
kfree(newbuf);
return -EFAULT;
}
sscanf(newbuf, "%d%d%d\n", &l_motor_val, &r_motor_val, &time_val);
kfree(newbuf);
mutex_lock(&lock);
set_motor_l_freq(l_motor_val);
set_motor_r_freq(r_motor_val);
msleep_interruptible(time_val);
set_motor_l_freq(0);
set_motor_r_freq(0);
mutex_unlock(&lock);
return count;
}
/*
* led_write - Trun ON/OFF LEDs
* Write function of /dev/rtled
*/
static ssize_t led_write(struct file *filep, const char __user *buf,
size_t count, loff_t *f_pos)
{
char cval;
int ret;
int minor = *((int *)filep->private_data);
if (count > 0) {
if (copy_from_user(&cval, buf, sizeof(char))) {
return -EFAULT;
}
switch (cval) {
case '1':
ret = led_put(minor);
break;
case '0':
ret = led_del(minor);
break;
}
return sizeof(char);
}
return 0;
}
/*
* Read Push Switches
* return 0 : device close
*/
static ssize_t sw_read(struct file *filep, char __user *buf, size_t count,
loff_t *f_pos)
{
int buflen = 0;
unsigned char rw_buf[MAX_BUFLEN];
unsigned int ret = 0;
int len;
unsigned int pin = GPIO_SW0;
int minor = *((int *)filep->private_data);
switch (minor) {
case 0:
pin = GPIO_SW0;
break;
case 1:
pin = GPIO_SW1;
break;
case 2:
pin = GPIO_SW2;
break;
default:
return 0;
break;
}
if (*f_pos > 0)
return 0; /* End of file */
ret = !gpio_get_value(pin);
sprintf(rw_buf, "%d\n", ret);
buflen = strlen(rw_buf);
count = buflen;
len = buflen;
if (copy_to_user((void *)buf, &rw_buf, count)) {
printk(KERN_INFO "err read buffer from ret %d\n", ret);
printk(KERN_INFO "err read buffer from %s\n", rw_buf);
printk(KERN_INFO "err sample_char_read size(%ld)\n", count);
printk(KERN_INFO "sample_char_read size err(%d)\n", -EFAULT);
return 0;
}
*f_pos += count;
return count;
}
/*
* Read All Push Switches
* return 0 : device close
*/
static ssize_t sws_read(struct file *filep, char __user *buf, size_t count,
loff_t *f_pos)
{
int buflen = 0;
unsigned char rw_buf[MAX_BUFLEN];
unsigned int ret = 0;
int len;
if (*f_pos > 0)
return 0; /* End of file */
sprintf(rw_buf, "%d %d %d\n", !gpio_get_value(GPIO_SW0),
!gpio_get_value(GPIO_SW1), !gpio_get_value(GPIO_SW2));
buflen = strlen(rw_buf);
count = buflen;
len = buflen;
if (copy_to_user((void *)buf, &rw_buf, count)) {
printk(KERN_INFO "err read buffer from ret %d\n", ret);
printk(KERN_INFO "err read buffer from %s\n", rw_buf);
printk(KERN_INFO "err sample_char_read size(%ld)\n", count);
printk(KERN_INFO "sample_char_read size err(%d)\n", -EFAULT);
return 0;
}
*f_pos += count;
return count;
}
/*
* Read Sensor information
* return 0 : device close
*/
static ssize_t sensor_read(struct file *filep, char __user *buf, size_t count,
loff_t *f_pos)
{
int buflen = 0;
unsigned char rw_buf[MAX_BUFLEN];
unsigned int ret = 0;
int len;
int usecs = 30;
int rf = 0, lf = 0, r = 0, l = 0;
int orf = 0, olf = 0, or = 0, ol = 0;
if (*f_pos > 0)
return 0; /* End of file */
#ifndef ALTERNATIVE_SPI_CS
/* get values through MCP3204 */
/* Right side */
or = mcp3204_get_value(R_AD_CH);
gpio_set_value(GPIO_SEN_R, 1);
udelay(usecs);
r = mcp3204_get_value(R_AD_CH);
gpio_set_value(GPIO_SEN_R, 0);
udelay(usecs);
/* Left side */
ol = mcp3204_get_value(L_AD_CH);
gpio_set_value(GPIO_SEN_L, 1);
udelay(usecs);
l = mcp3204_get_value(L_AD_CH);
gpio_set_value(GPIO_SEN_L, 0);
udelay(usecs);
/* Right front side */
orf = mcp3204_get_value(RF_AD_CH);
gpio_set_value(GPIO_SEN_RF, 1);
udelay(usecs);
rf = mcp3204_get_value(RF_AD_CH);
gpio_set_value(GPIO_SEN_RF, 0);
udelay(usecs);
/* Left front side */
olf = mcp3204_get_value(LF_AD_CH);
gpio_set_value(GPIO_SEN_LF, 1);
udelay(usecs);
lf = mcp3204_get_value(LF_AD_CH);
gpio_set_value(GPIO_SEN_LF, 0);
udelay(usecs);
#endif
#ifdef ALTERNATIVE_SPI_CS
/* get values through MCP3204 */
/* Right side */
gpio_set_value(GPIO_SPI_CS, 0);
or = mcp3204_get_value(R_AD_CH);
gpio_set_value(GPIO_SPI_CS, 1);
gpio_set_value(GPIO_SEN_R, 1);
udelay(usecs);
gpio_set_value(GPIO_SPI_CS, 0);
r = mcp3204_get_value(R_AD_CH);
gpio_set_value(GPIO_SPI_CS, 1);
gpio_set_value(GPIO_SEN_R, 0);
udelay(usecs);
/* Left side */
gpio_set_value(GPIO_SPI_CS, 0);
ol = mcp3204_get_value(L_AD_CH);
gpio_set_value(GPIO_SPI_CS, 1);
gpio_set_value(GPIO_SEN_L, 1);
udelay(usecs);
gpio_set_value(GPIO_SPI_CS, 0);
l = mcp3204_get_value(L_AD_CH);
gpio_set_value(GPIO_SPI_CS, 1);
gpio_set_value(GPIO_SEN_L, 0);
udelay(usecs);
/* Right front side */
gpio_set_value(GPIO_SPI_CS, 0);
orf = mcp3204_get_value(RF_AD_CH);
gpio_set_value(GPIO_SPI_CS, 1);
gpio_set_value(GPIO_SEN_RF, 1);
udelay(usecs);
gpio_set_value(GPIO_SPI_CS, 0);
rf = mcp3204_get_value(RF_AD_CH);
gpio_set_value(GPIO_SPI_CS, 1);
gpio_set_value(GPIO_SEN_RF, 0);
udelay(usecs);
/* Left front side */
gpio_set_value(GPIO_SPI_CS, 0);
olf = mcp3204_get_value(LF_AD_CH);
gpio_set_value(GPIO_SPI_CS, 1);
gpio_set_value(GPIO_SEN_LF, 1);
udelay(usecs);
gpio_set_value(GPIO_SPI_CS, 0);
lf = mcp3204_get_value(LF_AD_CH);
gpio_set_value(GPIO_SPI_CS, 1);
gpio_set_value(GPIO_SEN_LF, 0);
udelay(usecs);
#endif
/* set sensor data to rw_buf(static buffer) */
snprintf(rw_buf, sizeof(rw_buf), "%d %d %d %d\n", rf - orf, r - or,
l - ol, lf - olf);
buflen = strlen(rw_buf);
count = buflen;
len = buflen;
/* copy data to user area */
if (copy_to_user((void *)buf, &rw_buf, count)) {
printk(KERN_INFO "err read buffer from ret %d\n", ret);
printk(KERN_INFO "err read buffer from %s\n", rw_buf);
printk(KERN_INFO "err sample_char_read size(%ld)\n", count);
printk(KERN_INFO "sample_char_read size err(%d)\n", -EFAULT);
return 0;
}
*f_pos += count;
return count;
}
/*
* motoren_write - Trun ON/OFF motor enable signal
* Write function of /dev/rtmotoren
*/
static ssize_t motoren_write(struct file *filep, const char __user *buf,
size_t count, loff_t *f_pos)
{
char cval;
if (count > 0) {
if (copy_from_user(&cval, buf, sizeof(char))) {
return -EFAULT;
}
switch (cval) {
case '1':
gpio_set_value(GPIO_MOTOR_EN, 1);
break;
case '0':
gpio_set_value(GPIO_MOTOR_EN, 0);
break;
}
return sizeof(char);
}
return 0;
}
/*
* motor_write - Output frequency to right and left both motors
* Write function of /dev/rtmotor
*/
static ssize_t motor_write(struct file *filep, const char __user *buf,
size_t count, loff_t *f_pos)
{
int tmp;
int bufcnt;
bufcnt = parseMotorCmd(buf, count, &tmp);
return bufcnt;
}
/*
* i2c_counter_set - set value to I2C pulse counter
* called by cntr_write() and cntl_write()
*/
static int i2c_counter_set(struct i2c_device_info *dev_info, int setval)
{
int ret = 0;
int lsb = 0, msb = 0;
struct i2c_client *client = dev_info->client;
// printk(KERN_INFO "set 0x%x = 0x%x\n", client->addr, setval);
msb = (setval >> 8) & 0xFF;
lsb = setval & 0xFF;
mutex_lock(&dev_info->lock);
// printk(KERN_INFO "set 0x%x msb = 0x%x\n", client->addr, msb);
ret = i2c_smbus_write_byte_data(client, CNT_MSB_REG, msb);
if (ret < 0) {
printk(KERN_ERR
"%s: Failed writing to i2c counter device, addr=0x%x\n",
__func__, client->addr);
return -ENODEV;
}
// printk(KERN_INFO "set 0x%x lsb = 0x%x\n", client->addr, lsb);
ret = i2c_smbus_write_byte_data(client, CNT_LSB_REG, lsb);
if (ret < 0) {
printk(KERN_ERR
"%s: Failed writing to i2c counter device, addr=0x%x\n",
__func__, client->addr);
return -ENODEV;
}
mutex_unlock(&dev_info->lock);
return ret;
}
/*
* i2c_counter_read - get value from I2C pulse counter
* called by rtcnt_read()
*/
static int i2c_counter_read(struct i2c_device_info *dev_info, int *ret)
{
int lsb = 0, msb = 0;
// printk(KERN_INFO "read 0x%x\n", client->addr);
struct i2c_client *client = dev_info->client;
mutex_lock(&dev_info->lock);
lsb = i2c_smbus_read_byte_data(client, CNT_LSB_REG);
if (lsb < 0) {
printk(
KERN_ERR
"%s: Failed reading from i2c counter device, addr=0x%x\n",
__func__, client->addr);
return -ENODEV;
}
msb = i2c_smbus_read_byte_data(client, CNT_MSB_REG);
if (msb < 0) {
printk(
KERN_ERR
"%s: Failed reading from i2c counter device, addr=0x%x\n",
__func__, client->addr);
return -ENODEV;
}
mutex_unlock(&dev_info->lock);
*ret = ((msb << 8) & 0xFF00) + (lsb & 0xFF);
// printk(KERN_INFO "0x%x == 0x%x\n", client->addr, *ret);
return 0;
}
/*
* rtcnt_read - Read value from right/left pulse counter
* Read function of /dev/rtcounter_*
*/
static ssize_t rtcnt_read(struct file *filep, char __user *buf, size_t count,
loff_t *pos)
{
struct i2c_device_info *dev_info = filep->private_data;
unsigned char rw_buf[64];
int buflen;
int rtcnt_count = 0;
if (*pos > 0)
return 0; /* close device */
i2c_counter_read(dev_info, &rtcnt_count);
/* set sensor data to rw_buf(static buffer) */
sprintf(rw_buf, "%d\n", rtcnt_count);
buflen = strlen(rw_buf);
count = buflen;
/* copy data to user area */
if (copy_to_user((void *)buf, &rw_buf, count)) {
printk(KERN_INFO "err read buffer from %s\n", rw_buf);
printk(KERN_INFO "err sample_char_read size(%ld)\n", count);
printk(KERN_INFO "sample_char_read size err(%d)\n", -EFAULT);
return -EFAULT;
}
*pos += count;
return count;
}
/*
* rtcnt_write - Set value to right/left pulse counter
* Write function of /dev/rtcounter
*/
static ssize_t rtcnt_write(struct file *filep, const char __user *buf,
size_t count, loff_t *pos)
{
struct i2c_device_info *dev_info = filep->private_data;
int ret = -1;
int counter_set_value = 0;
if (count < 0)
return 0;
ret = kstrtoint_from_user(buf, count, 10, &counter_set_value);
if (ret) {
printk(KERN_ERR "%s: error parsing string to int in %s()\n",
DRIVER_NAME, __func__);
return ret;
}
i2c_counter_set(dev_info, counter_set_value);
printk(KERN_DEBUG "%s: set pulse counter value %d\n", DRIVER_NAME,
counter_set_value);
return count;
}
/*
* i2c_pwm_set_freq - set freq of I2C pwm driver
* called by pwm_*_write()
*/
static int i2c_pwm_set_freq(struct i2c_device_info *dev_info, int freq)
{
int ret = 0;
struct i2c_client *client = dev_info->client;
int prescale = 0;
int oldmode = 0;
printk(KERN_DEBUG "%s: set 0x%x to %d[Hz]\n", DRIVER_NAME, client->addr,
freq);
mutex_lock(&dev_info->lock);
/* get present mode */
oldmode = i2c_smbus_read_byte_data(client, PCA9685_MODE1);
if (oldmode < 0) {
printk(KERN_ERR
"%s: Failed reading from i2c pwm driver, addr=0x%x\n",
__func__, client->addr);
mutex_unlock(&dev_info->lock);
return -ENODEV;
}
printk(KERN_DEBUG "%s: PCA9685 MODE1 %d\n", DRIVER_NAME, oldmode);
/* set device sleep */
ret = i2c_smbus_write_byte_data(client, PCA9685_MODE1,
(oldmode & ~PCA9685_RESTART) |
PCA9685_SLEEP);
if (ret < 0) {
printk(KERN_ERR
"%s: Failed writing to i2c counter device, addr=0x%x\n",
__func__, client->addr);
mutex_unlock(&dev_info->lock);
return -ENODEV;
}
#ifdef USE_EXTERNAL_CLOCK
/* set external clock */
ret = i2c_smbus_write_byte_data(client, PCA9685_MODE1,
(oldmode & ~PCA9685_RESTART) |
PCA9685_SLEEP | PCA9685_CLOCK);
if (ret < 0) {
printk(KERN_ERR
"%s: Failed writing to i2c counter device, addr=0x%x\n",
__func__, client->addr);
mutex_unlock(&dev_info->lock);
return -ENODEV;
}
#endif
/* set prescale */
// (int)(round(25*10^6/4096/freq) - 1
if ((25000000 * 10 / 4096 / freq) % 10 < 5) {
prescale = (int)(25000000 / 4096 / freq) - 1;
} else {
prescale = (int)(25000000 / 4096 / freq);
}
ret = i2c_smbus_write_byte_data(client, PCA9685_PRESCALE, prescale);
if (ret < 0) {
printk(KERN_ERR
"%s: Failed writing to i2c counter device, addr=0x%x\n",
__func__, client->addr);
mutex_unlock(&dev_info->lock);
return -ENODEV;
}
/* get device awake */
ret = i2c_smbus_write_byte_data(client, PCA9685_MODE1,
(oldmode & ~PCA9685_RESTART) |
PCA9685_CLOCK);
if (ret < 0) {
printk(KERN_ERR
"%s: Failed writing to i2c counter device, addr=0x%x\n",
__func__, client->addr);
mutex_unlock(&dev_info->lock);
return -ENODEV;
}
udelay(500);
ret = i2c_smbus_write_byte_data(
client, PCA9685_MODE1, oldmode | PCA9685_RESTART | PCA9685_CLOCK);
if (ret < 0) {
printk(KERN_ERR
"%s: Failed writing to i2c counter device, addr=0x%x\n",
__func__, client->addr);
mutex_unlock(&dev_info->lock);
return -ENODEV;
}
mutex_unlock(&dev_info->lock);
return ret;
}
/*
* i2c_pwm_set_all - set freq of I2C pwm driver
* called by pwm_*_write()
*/
static int i2c_pwm_set_all(struct i2c_device_info *dev_info, int on, int off)
{
int ret = 0;
struct i2c_client *client = dev_info->client;
mutex_lock(&dev_info->lock);
// printk(KERN_INFO "set 0x%x msb = 0x%x\n", client->addr, msb);
/* set all 0 */
ret =
i2c_smbus_write_byte_data(client, PCA9685_ALL_LED_ON_L, on & 0xFF);
if (ret < 0) {
printk(KERN_ERR "%s: Failed writing to i2c counter device, "
"ALL_LED_ON_L, addr=0x%x\n",
__func__, client->addr);
mutex_unlock(&dev_info->lock);
return -ENODEV;
}
ret = i2c_smbus_write_byte_data(client, PCA9685_ALL_LED_ON_H, on >> 8);
if (ret < 0) {
printk(KERN_ERR "%s: Failed writing to i2c counter device, "
"ALL_LED_ON_H, addr=0x%x\n",
__func__, client->addr);
mutex_unlock(&dev_info->lock);
return -ENODEV;
}
ret = i2c_smbus_write_byte_data(client, PCA9685_ALL_LED_OFF_H,
off & 0xFF);
if (ret < 0) {
printk(KERN_ERR "%s: Failed writing to i2c counter device, "
"ALL_LED_OFF_H, addr=0x%x\n",
__func__, client->addr);
mutex_unlock(&dev_info->lock);
return -ENODEV;
}
ret =
i2c_smbus_write_byte_data(client, PCA9685_ALL_LED_OFF_L, off >> 8);
if (ret < 0) {
printk(KERN_ERR "%s: Failed writing to i2c counter device, "
"ALL_LED_OFF_L, addr=0x%x\n",
__func__, client->addr);
mutex_unlock(&dev_info->lock);
return -ENODEV;
}
mutex_unlock(&dev_info->lock);
return ret;
}
/*
* i2c_pwm_set - set freq of I2C pwm driver
* called by pwm_*_write()
*/
static int i2c_pwm_set(struct i2c_device_info *dev_info, int channel, int on,
int off)
{
int ret = 0;
struct i2c_client *client = dev_info->client;
printk(KERN_DEBUG "set 0x%x: 'channel: %d, on: %d, off: %d'\n",
client->addr, channel, on, off);
mutex_lock(&dev_info->lock);
// printk(KERN_INFO "set 0x%x msb = 0x%x\n", client->addr, msb);
ret = i2c_smbus_write_byte_data(client, PCA9685_LED0_ON_L + 4 * channel,
on & 0xFF);
if (ret < 0) {
printk(KERN_ERR
"%s: Failed writing to i2c counter device, addr=0x%x\n",
__func__, client->addr);
mutex_unlock(&dev_info->lock);
return -ENODEV;
}
ret = i2c_smbus_write_byte_data(client, PCA9685_LED0_ON_H + 4 * channel,
on >> 8);
if (ret < 0) {
printk(KERN_ERR
"%s: Failed writing to i2c counter device, addr=0x%x\n",
__func__, client->addr);
mutex_unlock(&dev_info->lock);
return -ENODEV;
}
ret = i2c_smbus_write_byte_data(
client, PCA9685_LED0_OFF_L + 4 * channel, off & 0xFF);
if (ret < 0) {
printk(KERN_ERR
"%s: Failed writing to i2c counter device, addr=0x%x\n",