check_driver_version

rtmouse.ko: rtmouse.c

#Reference: http://www.devdrv.co.jp/linux/kernel26-makefile.htm

rtmouse.ko: rtmouse.c

make -C $(LINUX_SRC_DIR) M=$(shell pwd) V=$(VERBOSE) clean

#include <linux/cdev.h>

#include <linux/delay.h>

#include <linux/device.h>

#include <linux/errno.h>

#include <linux/fs.h>

#include <linux/i2c.h>

#include <linux/iio/iio.h>

#include <linux/init.h>

#include <linux/io.h>

#include <linux/ioport.h>

#include <linux/kdev_t.h>

#include <linux/kernel.h>

#include <linux/module.h>

#include <linux/moduleparam.h>

#include <linux/mutex.h>

#include <linux/sched.h>

#include <linux/slab.h>

#include <linux/spi/spi.h>

#include <linux/stat.h>

#include <linux/timer.h>

#include <linux/types.h>

#include <linux/uaccess.h>

#include <linux/version.h>

#define RASPBERRYPI 2

MODULE_VERSION("3.3.1");

#define ID_DEV_LED 0

#define ID_DEV_SWITCH 1

#define ID_DEV_SENSOR 2

#define ID_DEV_BUZZER 3

#define ID_DEV_MOTORRAWR 4

#define ID_DEV_MOTORRAWL 5

#define ID_DEV_MOTOREN 6

#define ID_DEV_MOTOR 7

#define ID_DEV_CNT 8

#define ID_DEV_SIZE 9

static const unsigned int NUM_DEV[ID_DEV_SIZE] = {

[ID_DEV_LED] = 4, [ID_DEV_SWITCH] = 3, [ID_DEV_SENSOR] = 1,

[ID_DEV_BUZZER] = 1, [ID_DEV_MOTORRAWR] = 1, [ID_DEV_MOTORRAWL] = 1,

[ID_DEV_MOTOREN] = 1, [ID_DEV_MOTOR] = 1, [ID_DEV_CNT] = 2};

#define NUM_DEV_TOTAL \

(NUM_DEV[ID_DEV_LED] + NUM_DEV[ID_DEV_SWITCH] + \

NUM_DEV[ID_DEV_SENSOR] + NUM_DEV[ID_DEV_BUZZER] + \

NUM_DEV[ID_DEV_MOTORRAWR] + NUM_DEV[ID_DEV_MOTORRAWL] + \

NUM_DEV[ID_DEV_MOTOREN] + NUM_DEV[ID_DEV_MOTOR])

static const char *NAME_DEV[ID_DEV_SIZE] = {

[ID_DEV_LED] = "rtled",

[ID_DEV_SWITCH] = "rtswitch",

[ID_DEV_SENSOR] = "rtlightsensor",

[ID_DEV_BUZZER] = "rtbuzzer",

[ID_DEV_MOTORRAWR] = "rtmotor_raw_r",

[ID_DEV_MOTORRAWL] = "rtmotor_raw_l",

[ID_DEV_MOTOREN] = "rtmotoren",

[ID_DEV_MOTOR] = "rtmotor"};

static const char *NAME_DEV_U[ID_DEV_SIZE] = {

[ID_DEV_LED] = "rtled%u",

[ID_DEV_SWITCH] = "rtswitch%u",

[ID_DEV_SENSOR] = "rtlightsensor%u",

[ID_DEV_BUZZER] = "rtbuzzer%u",

[ID_DEV_MOTORRAWR] = "rtmotor_raw_r%u",

[ID_DEV_MOTORRAWL] = "rtmotor_raw_l%u",

[ID_DEV_MOTOREN] = "rtmotoren%u",

[ID_DEV_MOTOR] = "rtmotor%u"};

#define DEVNAME_SENSOR "rtlightsensor"

#define DEVNAME_CNTR "rtcounter_r"

#define DEVNAME_CNTL "rtcounter_l"

#define DRIVER_NAME "rtmouse"

#define DEV_MAJOR 0

#define DEV_MINOR 0

static int spi_bus_num = 0;

static int spi_chip_select = 0;

#define R_AD_CH 3

#define L_AD_CH 0

#define RF_AD_CH 2

#define LF_AD_CH 1

#define R_LED_BASE 22

#define L_LED_BASE 4

#define RF_LED_BASE 27

#define LF_LED_BASE 17

#define LED0_BASE 25

#define LED1_BASE 24

#define LED2_BASE 23

#define LED3_BASE 18

#define SW1_PIN 20

#define SW2_PIN 26

#define SW3_PIN 21

#define BUZZER_BASE 19

#define MOTCLK_L_BASE 12

#define MOTDIR_L_BASE 16

#define MOTCLK_R_BASE 13

#define MOTDIR_R_BASE 6

#define MOTEN_BASE 5

#define PWM_ORG0_BASE 40

#define PWM_ORG1_BASE 45

#if RASPBERRYPI == 1

#define RPI_REG_BASE 0x20000000

#elif RASPBERRYPI == 2

#define RPI_REG_BASE 0x3f000000

#elif RASPBERRYPI == 4

#define RPI_REG_BASE 0xfe000000

#define GPPUPPDN0 57 /* Pin pull-up/down for pins 15:0 */

#define GPPUPPDN1 58 /* Pin pull-up/down for pins 31:16 */

#define GPPUPPDN2 59 /* Pin pull-up/down for pins 47:32 */

#define GPPUPPDN3 60 /* Pin pull-up/down for pins 57:48 */

#define RPI_GPIO_OFFSET 0x200000

#define RPI_GPIO_SIZE 0xC0

#define RPI_GPIO_BASE (RPI_REG_BASE + RPI_GPIO_OFFSET)

#define REG_GPIO_NAME "RPi mouse GPIO"

#define RPI_PWM_OFFSET 0x20C000

#define RPI_PWM_SIZE 0xC0

#define RPI_PWM_BASE (RPI_REG_BASE + RPI_PWM_OFFSET)

#define REG_PWM_NAME "RPi mouse PWM"

#define RPI_CLK_OFFSET 0x101000

#define RPI_CLK_SIZE 0x100

#define RPI_CLK_BASE (RPI_REG_BASE + RPI_CLK_OFFSET)

#define REG_CLK_NAME "RPi mouse CLK"

#define CLK_PWM_INDEX 0xa0

#define CLK_PWMDIV_INDEX 0xa4

#if RASPBERRYPI == 4

#define GPIO_PULLNONE 0x0

#define GPIO_PULLUP 0x1

#define GPIO_PULLDOWN 0x2

#define GPIO_PULLNONE 0x0

#define GPIO_PULLDOWN 0x1

#define GPIO_PULLUP 0x2

#define RPI_GPF_INPUT 0x00

#define RPI_GPF_OUTPUT 0x01

#define RPI_GPF_ALT0 0x04

#define RPI_GPF_ALT5 0x02

#define RPI_GPFSEL0_INDEX 0

#define RPI_GPFSEL1_INDEX 1

#define RPI_GPFSEL2_INDEX 2

#define RPI_GPFSEL3_INDEX 3

#define RPI_GPSET0_INDEX 7

#define RPI_GPCLR0_INDEX 10

#define RPI_GPIO_P1MASK \

(uint32_t)((0x01 << 2) | (0x01 << 3) | (0x01 << 4) | (0x01 << 7) | \

(0x01 << 8) | (0x01 << 9) | (0x01 << 10) | (0x01 << 11) | \

(0x01 << 14) | (0x01 << 15) | (0x01 << 17) | (0x01 << 18) | \

(0x01 << 22) | (0x01 << 23) | (0x01 << 24) | (0x01 << 25) | \

(0x01 << 27))

#define RPI_GPIO_P2MASK (uint32_t)0xffffffff

#define RPI_PWM_CTRL 0x0

#define RPI_PWM_STA 0x4

#define RPI_PWM_DMAC 0x8

#define RPI_PWM_RNG1 0x10

#define RPI_PWM_DAT1 0x14

#define RPI_PWM_FIF1 0x18

#define RPI_PWM_RNG2 0x20

#define RPI_PWM_DAT2 0x24

#if RASPBERRYPI == 4

#define PWM_BASECLK 27000000

#define PWM_BASECLK 9600000

#define MCP320X_PACKET_SIZE 3

#define MCP320X_DIFF 0

#define MCP320X_SINGLE 1

#define MCP3204_CHANNELS 4

#define DEV_ADDR_CNTL 0x10

#define DEV_ADDR_CNTR 0x11

#define CNT_ADDR_MSB 0x10

#define CNT_ADDR_LSB 0x11

#define MOTOR_UNCONTROLLABLE_FREQ 5

#define SIGNED_COUNT_SIZE 32767

#define MAX_PULSE_COUNT 65535

#define MAX_BUFLEN 64

#define MOTOR_MOTION 0

#if MOTOR_MOTION

typedef struct {

signed int r_hz;

signed int l_hz;

unsigned int time;

} t_motor_motion;

#define MAX_MOTORBUFLEN 16

static t_motor_motion motor_motion[MAX_MOTORBUFLEN];

static unsigned int motor_motion_head = 0, motor_motion_tail = 0;

static int motor_motion_push(int r_hz, int l_hz, int time)

{

unsigned int next_tail = motor_motion_tail + 1;

if (next_tail >= MAX_MOTORBUFLEN) {

next_tail = 0;

}

if (next_tail == motor_motion_head) {

return -1;

}

motor_motion[motor_motion_tail].r_hz = r_hz;

motor_motion[motor_motion_tail].l_hz = l_hz;

motor_motion[motor_motion_tail].time = time;

motor_motion_tail = next_tail;

return 0;

}

static int motor_motion_pop(t_motor_motion **ret)

{

unsigned int next_head = motor_motion_head + 1;

if (motor_motion_tail == motor_motion_head) {

return -1;

}

if (next_head >= MAX_MOTORBUFLEN) {

next_head = 0;

}

*ret = (motor_motion + motor_motion_head);

motor_motion_head = next_head;

return 0;

}

mcp3204_info.bus_num = spi_bus_num;

mcp3204_info.chip_select = spi_chip_select;