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YusukeKatoKuraZuzu
YusukeKato
and
KuraZuzu
authored
ヘッダファイルrtmouse.hを追加（リファクタリング） (#91)
Co-authored-by: Kazushi Kurasawa <[email protected]>
1 parent 8e920c2 commit 43532e9

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7 files changed

+271
-298
lines changed

7 files changed

+271
-298
lines changed

‎.test/lint.sh‎

Lines changed: 2 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -7,6 +7,7 @@ SRC_DIR=$(cd $(dirname ${BASH_SOURCE:-$0}); cd ../; pwd)
77
lint_driver () {
88
pushd $SRC_DIR/src/drivers
99
python3 $SRC_DIR/.test/bin/run-clang-format.py rtmouse.c
10+
python3 $SRC_DIR/.test/bin/run-clang-format.py rtmouse.h
1011
popd
1112
}
1213

@@ -25,4 +26,4 @@ check_driver_version () {
2526

2627

2728
lint_driver
28-
check_driver_version
29+
check_driver_version

‎src/drivers/Makefile.header_from_apt‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -5,7 +5,7 @@ clean-files:= *.o *.ko *.mod.[co] *~
55
LINUX_SRC_DIR:=/usr/src/linux-headers-$(shell uname -r)
66
VERBOSE:=0
77

8-
rtmouse.ko: rtmouse.c
8+
rtmouse.ko: rtmouse.c rtmouse.h
99
make -C $(LINUX_SRC_DIR) M=$(shell pwd) V=$(VERBOSE) modules
1010

1111
clean:
@@ -17,4 +17,4 @@ install: rtmouse.ko
1717
uninstall:
1818
rm /etc/udev/rules.d/50-rtmouse.rules
1919

20-
#Reference: http://www.devdrv.co.jp/linux/kernel26-makefile.htm
20+
#Reference: http://www.devdrv.co.jp/linux/kernel26-makefile.htm

‎src/drivers/Makefile.header_from_source‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -5,8 +5,8 @@ clean-files:= *.o *.ko *.mod.[co] *~
55
LINUX_SRC_DIR:=/usr/src/linux
66
VERBOSE:=0
77

8-
rtmouse.ko: rtmouse.c
8+
rtmouse.ko: rtmouse.c rtmouse.h
99
make -C $(LINUX_SRC_DIR) M=$(shell pwd) V=$(VERBOSE) modules
1010

1111
clean:
12-
make -C $(LINUX_SRC_DIR) M=$(shell pwd) V=$(VERBOSE) clean
12+
make -C $(LINUX_SRC_DIR) M=$(shell pwd) V=$(VERBOSE) clean

‎src/drivers/rtmouse.c‎

Lines changed: 6 additions & 291 deletions
Original file line numberDiff line numberDiff line change
@@ -3,9 +3,9 @@
33
* rtmouse.c
44
* Raspberry Pi Mouse device driver
55
*
6-
* Version: 3.3.1
6+
* Version: 3.3.2
77
*
8-
* Copyright (C) 2015-2021 RT Corporation <[email protected]>
8+
* Copyright (C) 2015-2024 RT Corporation <[email protected]>
99
*
1010
* This program is free software; you can redistribute it and/or modify
1111
* it under the terms of the GNU General Public License as published by
@@ -22,100 +22,13 @@
2222
* MA 02110-1301, USA.
2323
*/
2424

25-
#include <linux/cdev.h>
26-
#include <linux/delay.h>
27-
#include <linux/device.h>
28-
#include <linux/errno.h>
29-
#include <linux/fs.h>
30-
#include <linux/i2c.h>
31-
#include <linux/iio/iio.h>
32-
#include <linux/init.h>
33-
#include <linux/io.h>
34-
#include <linux/ioport.h>
35-
#include <linux/kdev_t.h>
36-
#include <linux/kernel.h>
37-
#include <linux/module.h>
38-
#include <linux/moduleparam.h>
39-
#include <linux/mutex.h>
40-
#include <linux/sched.h>
41-
#include <linux/slab.h>
42-
#include <linux/spi/spi.h>
43-
#include <linux/stat.h>
44-
#include <linux/timer.h>
45-
#include <linux/types.h>
46-
#include <linux/uaccess.h>
47-
#include <linux/version.h>
48-
49-
// define the Raspberry Pi version here
50-
// Raspberry Pi 1 B/A/B+/A+: 1
51-
// Raspberry Pi 2 B : 2
52-
// Raspberry Pi 3 B/A+/B+ : 2
53-
// Raspberry Pi 4 B : 4
54-
#define RASPBERRYPI 2
25+
#include "rtmouse.h"
5526

5627
MODULE_AUTHOR("RT Corporation");
5728
MODULE_LICENSE("GPL");
58-
MODULE_VERSION("3.3.1");
29+
MODULE_VERSION("3.3.2");
5930
MODULE_DESCRIPTION("Raspberry Pi Mouse device driver");
6031

61-
/* --- Device ID --- */
62-
#define ID_DEV_LED 0
63-
#define ID_DEV_SWITCH 1
64-
#define ID_DEV_SENSOR 2
65-
#define ID_DEV_BUZZER 3
66-
#define ID_DEV_MOTORRAWR 4
67-
#define ID_DEV_MOTORRAWL 5
68-
#define ID_DEV_MOTOREN 6
69-
#define ID_DEV_MOTOR 7
70-
#define ID_DEV_CNT 8
71-
#define ID_DEV_SIZE 9
72-
73-
/* --- Device Numbers --- */
74-
static const unsigned int NUM_DEV[ID_DEV_SIZE] = {
75-
[ID_DEV_LED] = 4, [ID_DEV_SWITCH] = 3, [ID_DEV_SENSOR] = 1,
76-
[ID_DEV_BUZZER] = 1, [ID_DEV_MOTORRAWR] = 1, [ID_DEV_MOTORRAWL] = 1,
77-
[ID_DEV_MOTOREN] = 1, [ID_DEV_MOTOR] = 1, [ID_DEV_CNT] = 2};
78-
79-
#define NUM_DEV_TOTAL \
80-
(NUM_DEV[ID_DEV_LED] + NUM_DEV[ID_DEV_SWITCH] + \
81-
NUM_DEV[ID_DEV_SENSOR] + NUM_DEV[ID_DEV_BUZZER] + \
82-
NUM_DEV[ID_DEV_MOTORRAWR] + NUM_DEV[ID_DEV_MOTORRAWL] + \
83-
NUM_DEV[ID_DEV_MOTOREN] + NUM_DEV[ID_DEV_MOTOR])
84-
85-
/* --- Device Names --- */
86-
static const char *NAME_DEV[ID_DEV_SIZE] = {
87-
[ID_DEV_LED] = "rtled",
88-
[ID_DEV_SWITCH] = "rtswitch",
89-
[ID_DEV_SENSOR] = "rtlightsensor",
90-
[ID_DEV_BUZZER] = "rtbuzzer",
91-
[ID_DEV_MOTORRAWR] = "rtmotor_raw_r",
92-
[ID_DEV_MOTORRAWL] = "rtmotor_raw_l",
93-
[ID_DEV_MOTOREN] = "rtmotoren",
94-
[ID_DEV_MOTOR] = "rtmotor"};
95-
96-
static const char *NAME_DEV_U[ID_DEV_SIZE] = {
97-
[ID_DEV_LED] = "rtled%u",
98-
[ID_DEV_SWITCH] = "rtswitch%u",
99-
[ID_DEV_SENSOR] = "rtlightsensor%u",
100-
[ID_DEV_BUZZER] = "rtbuzzer%u",
101-
[ID_DEV_MOTORRAWR] = "rtmotor_raw_r%u",
102-
[ID_DEV_MOTORRAWL] = "rtmotor_raw_l%u",
103-
[ID_DEV_MOTOREN] = "rtmotoren%u",
104-
[ID_DEV_MOTOR] = "rtmotor%u"};
105-
106-
#define DEVNAME_SENSOR "rtlightsensor"
107-
#define DEVNAME_CNTR "rtcounter_r"
108-
#define DEVNAME_CNTL "rtcounter_l"
109-
110-
#define DRIVER_NAME "rtmouse"
111-
112-
/* --- Device Major and Minor Numbers --- */
113-
#define DEV_MAJOR 0
114-
#define DEV_MINOR 0
115-
116-
static int spi_bus_num = 0;
117-
static int spi_chip_select = 0;
118-
11932
static int _major_dev[ID_DEV_SIZE] = {
12033
[ID_DEV_LED] = DEV_MAJOR, [ID_DEV_SWITCH] = DEV_MAJOR,
12134
[ID_DEV_SENSOR] = DEV_MAJOR, [ID_DEV_BUZZER] = DEV_MAJOR,
@@ -144,143 +57,6 @@ static volatile int cdev_index = 0;
14457

14558
static struct mutex lock;
14659

147-
/* --- GPIO Pin Definitions --- */
148-
#define R_AD_CH 3
149-
#define L_AD_CH 0
150-
#define RF_AD_CH 2
151-
#define LF_AD_CH 1
152-
153-
#define R_LED_BASE 22
154-
#define L_LED_BASE 4
155-
#define RF_LED_BASE 27
156-
#define LF_LED_BASE 17
157-
158-
#define LED0_BASE 25
159-
#define LED1_BASE 24
160-
#define LED2_BASE 23
161-
#define LED3_BASE 18
162-
163-
#define SW1_PIN 20
164-
#define SW2_PIN 26
165-
#define SW3_PIN 21
166-
167-
#define BUZZER_BASE 19
168-
169-
#define MOTCLK_L_BASE 12
170-
#define MOTDIR_L_BASE 16
171-
172-
#define MOTCLK_R_BASE 13
173-
#define MOTDIR_R_BASE 6
174-
175-
#define MOTEN_BASE 5
176-
177-
#define PWM_ORG0_BASE 40
178-
#define PWM_ORG1_BASE 45
179-
180-
/* --- Register Address --- */
181-
/* Base Addr */
182-
#if RASPBERRYPI == 1
183-
#define RPI_REG_BASE 0x20000000
184-
#elif RASPBERRYPI == 2
185-
#define RPI_REG_BASE 0x3f000000
186-
#elif RASPBERRYPI == 4
187-
#define RPI_REG_BASE 0xfe000000
188-
/* 2711 has a different mechanism for pin pull-up/down/enable */
189-
#define GPPUPPDN0 57 /* Pin pull-up/down for pins 15:0 */
190-
#define GPPUPPDN1 58 /* Pin pull-up/down for pins 31:16 */
191-
#define GPPUPPDN2 59 /* Pin pull-up/down for pins 47:32 */
192-
#define GPPUPPDN3 60 /* Pin pull-up/down for pins 57:48 */
193-
#endif
194-
195-
/* GPIO Addr */
196-
#define RPI_GPIO_OFFSET 0x200000
197-
#define RPI_GPIO_SIZE 0xC0
198-
#define RPI_GPIO_BASE (RPI_REG_BASE + RPI_GPIO_OFFSET)
199-
#define REG_GPIO_NAME "RPi mouse GPIO"
200-
201-
/* Pwm Addr */
202-
#define RPI_PWM_OFFSET 0x20C000
203-
#define RPI_PWM_SIZE 0xC0
204-
#define RPI_PWM_BASE (RPI_REG_BASE + RPI_PWM_OFFSET)
205-
#define REG_PWM_NAME "RPi mouse PWM"
206-
207-
/* Clock Addr */
208-
#define RPI_CLK_OFFSET 0x101000
209-
#define RPI_CLK_SIZE 0x100
210-
#define RPI_CLK_BASE (RPI_REG_BASE + RPI_CLK_OFFSET)
211-
#define REG_CLK_NAME "RPi mouse CLK"
212-
213-
/* --- General Options --- */
214-
/* Clock Offset */
215-
#define CLK_PWM_INDEX 0xa0
216-
#define CLK_PWMDIV_INDEX 0xa4
217-
218-
/* GPIO PUPD select */
219-
#if RASPBERRYPI == 4
220-
#define GPIO_PULLNONE 0x0
221-
#define GPIO_PULLUP 0x1
222-
#define GPIO_PULLDOWN 0x2
223-
#else
224-
#define GPIO_PULLNONE 0x0
225-
#define GPIO_PULLDOWN 0x1
226-
#define GPIO_PULLUP 0x2
227-
#endif
228-
229-
/* GPIO Function */
230-
#define RPI_GPF_INPUT 0x00
231-
#define RPI_GPF_OUTPUT 0x01
232-
#define RPI_GPF_ALT0 0x04
233-
#define RPI_GPF_ALT5 0x02
234-
235-
/* GPIO Register Index */
236-
#define RPI_GPFSEL0_INDEX 0
237-
#define RPI_GPFSEL1_INDEX 1
238-
#define RPI_GPFSEL2_INDEX 2
239-
#define RPI_GPFSEL3_INDEX 3
240-
241-
#define RPI_GPSET0_INDEX 7
242-
#define RPI_GPCLR0_INDEX 10
243-
244-
/* GPIO Mask */
245-
#define RPI_GPIO_P1MASK \
246-
(uint32_t)((0x01 << 2) | (0x01 << 3) | (0x01 << 4) | (0x01 << 7) | \
247-
(0x01 << 8) | (0x01 << 9) | (0x01 << 10) | (0x01 << 11) | \
248-
(0x01 << 14) | (0x01 << 15) | (0x01 << 17) | (0x01 << 18) | \
249-
(0x01 << 22) | (0x01 << 23) | (0x01 << 24) | (0x01 << 25) | \
250-
(0x01 << 27))
251-
#define RPI_GPIO_P2MASK (uint32_t)0xffffffff
252-
253-
/* PWM Index */
254-
#define RPI_PWM_CTRL 0x0
255-
#define RPI_PWM_STA 0x4
256-
#define RPI_PWM_DMAC 0x8
257-
#define RPI_PWM_RNG1 0x10
258-
#define RPI_PWM_DAT1 0x14
259-
#define RPI_PWM_FIF1 0x18
260-
#define RPI_PWM_RNG2 0x20
261-
#define RPI_PWM_DAT2 0x24
262-
263-
#if RASPBERRYPI == 4
264-
#define PWM_BASECLK 27000000
265-
#else
266-
#define PWM_BASECLK 9600000
267-
#endif
268-
269-
/* A/D Parameter */
270-
#define MCP320X_PACKET_SIZE 3
271-
#define MCP320X_DIFF 0
272-
#define MCP320X_SINGLE 1
273-
#define MCP3204_CHANNELS 4
274-
275-
/* I2C Parameter */
276-
#define DEV_ADDR_CNTL 0x10
277-
#define DEV_ADDR_CNTR 0x11
278-
#define CNT_ADDR_MSB 0x10
279-
#define CNT_ADDR_LSB 0x11
280-
281-
/* Motor Parameter */
282-
#define MOTOR_UNCONTROLLABLE_FREQ 5
283-
28460
/* --- Function Declarations --- */
28561
static void set_motor_r_freq(int freq);
28662
static void set_motor_l_freq(int freq);
@@ -366,8 +142,6 @@ static struct i2c_client *i2c_client_r = NULL;
366142
static struct i2c_client *i2c_client_l = NULL;
367143
static unsigned int motor_l_freq_is_positive = 1;
368144
static unsigned int motor_r_freq_is_positive = 1;
369-
#define SIGNED_COUNT_SIZE 32767
370-
#define MAX_PULSE_COUNT 65535
371145

372146
/* I2C Device ID */
373147
static struct i2c_device_id i2c_counter_id[] = {
@@ -390,67 +164,8 @@ static struct i2c_driver i2c_counter_driver = {
390164

391165
/* -- Device Addition -- */
392166
MODULE_DEVICE_TABLE(spi, mcp3204_id);
393-
394167
MODULE_DEVICE_TABLE(i2c, i2c_counter_id);
395168

396-
/* -- Buffer -- */
397-
#define MAX_BUFLEN 64
398-
// static int buflen = 0;
399-
400-
#define MOTOR_MOTION 0
401-
#if MOTOR_MOTION
402-
/* Variable Type Definition for motor motion */
403-
typedef struct {
404-
signed int r_hz;
405-
signed int l_hz;
406-
unsigned int time;
407-
} t_motor_motion;
408-
409-
#define MAX_MOTORBUFLEN 16
410-
static t_motor_motion motor_motion[MAX_MOTORBUFLEN];
411-
static unsigned int motor_motion_head = 0, motor_motion_tail = 0;
412-
413-
static int motor_motion_push(int r_hz, int l_hz, int time)
414-
{
415-
unsigned int next_tail = motor_motion_tail + 1;
416-
417-
if (next_tail >= MAX_MOTORBUFLEN) {
418-
next_tail = 0;
419-
}
420-
421-
if (next_tail == motor_motion_head) {
422-
return -1;
423-
}
424-
425-
motor_motion[motor_motion_tail].r_hz = r_hz;
426-
motor_motion[motor_motion_tail].l_hz = l_hz;
427-
motor_motion[motor_motion_tail].time = time;
428-
429-
motor_motion_tail = next_tail;
430-
431-
return 0;
432-
}
433-
434-
static int motor_motion_pop(t_motor_motion **ret)
435-
{
436-
unsigned int next_head = motor_motion_head + 1;
437-
438-
if (motor_motion_tail == motor_motion_head) {
439-
return -1;
440-
}
441-
442-
if (next_head >= MAX_MOTORBUFLEN) {
443-
next_head = 0;
444-
}
445-
446-
*ret = (motor_motion + motor_motion_head);
447-
448-
motor_motion_head = next_head;
449-
450-
return 0;
451-
}
452-
#endif
453-
454169
/* --- GPIO Operation --- */
455170
/* getPWMCount function for GPIO Operation */
456171
static int getPWMCount(int freq)
@@ -1531,8 +1246,8 @@ static int mcp3204_init(void)
15311246

15321247
spi_register_driver(&mcp3204_driver);
15331248

1534-
mcp3204_info.bus_num = spi_bus_num;
1535-
mcp3204_info.chip_select = spi_chip_select;
1249+
mcp3204_info.bus_num = SPI_BUS_NUM;
1250+
mcp3204_info.chip_select = SPI_CHIP_SELECT;
15361251

15371252
master = spi_busnum_to_master(mcp3204_info.bus_num);
15381253

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