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spike-ad: Commit

Overo用のspiドライバ
/dev/spi-ad
サブCPU基板からSPIでADデータを取得する。


Commit MetaInfo

Revision762610c370c52b8589ce580bf4744658fd7be5e0 (tree)
Time2016-02-29 10:32:11
AuthorNaoya Takamura <ntaka206@user...>
CommiterNaoya Takamura

Log Message

kernel3.18対応

kernel3.18用に変更した他のspike-adを参考にして変更した
makeではなくbitbakeでbuildするように変更した
SPI速度を500KHz->50KHzに変更
bus_find_device_by_name()で見つけたデバイスをdevice_del()で取り除くようにした

Change Summary

Incremental Difference

--- a/Makefile
+++ /dev/null
@@ -1,20 +0,0 @@
1-DRIVER = spike-ad
2-
3-ifneq ($(KERNELRELEASE),)
4- obj-m := $(DRIVER).o
5-else
6- PWD := $(shell pwd)
7-
8-default:
9-ifeq ($(strip $(KERNELDIR)),)
10- $(error "KERNELDIR is undefined!")
11-else
12- $(MAKE) -C $(KERNELDIR) M=$(PWD) modules
13-endif
14-
15-
16-clean:
17- rm -rf *~ *.ko *.o *.mod.c modules.order Module.symvers .$(DRIVER)* .tmp_versions
18-
19-endif
20-
--- /dev/null
+++ b/files/COPYING
@@ -0,0 +1,340 @@
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--- /dev/null
+++ b/files/Makefile
@@ -0,0 +1,15 @@
1+obj-m := spikead.o
2+spikead-y := spike-ad.o
3+
4+SRC := $(shell pwd)
5+
6+all:
7+ $(MAKE) -C $(KERNEL_SRC) M=$(SRC)
8+
9+modules_install:
10+ $(MAKE) -C $(KERNEL_SRC) M=$(SRC) modules_install
11+
12+clean:
13+ rm -f *.o *~ core .depend .*.cmd *.ko *.mod.c
14+ rm -f Module.markers Module.symvers modules.order
15+ rm -rf .tmp_versions Modules.symvers
--- a/spike-ad.c
+++ b/files/spike-ad.c
@@ -4,9 +4,22 @@
44
55 GPIO144 DRDY signal from PIC24@CPU2010
66 SPI2 AD data receive and CMD send for PIC24@CPU2010
7+
8+ **** Ver1.1 2016/2
9+ * kernel3.18対応
10+ * kernel3.18用に変更した他のspike-adを参考にして変更した
11+ * makeではなくbitbakeでbuildするように変更した
12+ * SPI速度を500KHz->50KHzに変更
13+ * bus_find_device_by_name()で見つけたデバイスをdevice_del()で取り除くようにした
14+ *
15+ * Make方法
16+ * $ cd dev/overo-yocto-2015/
17+ * $ . poky/oe-init-build-env
18+ * $ bitbake spike-ad
719
820 Copyright Naoya Takamura, 2011
921 This program based on spike.c
22+
1023 ---------------------------------------------
1124 spike.c
1225
@@ -27,8 +40,9 @@
2740 Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
2841 */
2942
43+#include <linux/kernel.h> /* We're doing kernel work */
44+#include <linux/module.h> /* Specifically, a module */
3045 #include <linux/init.h>
31-#include <linux/module.h>
3246 #include <linux/fs.h>
3347 #include <linux/device.h>
3448 #include <linux/mutex.h>
@@ -45,6 +59,8 @@
4559 #include <linux/wait.h>
4660 #include <linux/sched.h>
4761 #include <asm/atomic.h>
62+#include <asm/irq.h>
63+#include <linux/hrtimer.h>
4864
4965 #include "spike-ad.h"
5066
@@ -53,7 +69,8 @@
5369
5470 #define SPI_BUS 1
5571 #define SPI_BUS_CS0 0
56-#define SPI_BUS_SPEED 500000 // Hz
72+//#define SPI_BUS_SPEED 500000 // Hz 2us/bit
73+#define SPI_BUS_SPEED 50000 // Hz 20us/bit
5774
5875 #define SPI_DATA_SIZE (965+1) // $含む PICから受信するデータ長 DMA問題のために+1byteしている
5976
@@ -64,9 +81,13 @@
6481 #define GPIO_TOGGLE_OUT 145 // Debug用toggle出力 = GPIO145
6582 #endif
6683
84+// SPI受信タイムアウト用タイマ
85+#define SPI_TIMEOUT_SEC 3
86+#define SPI_TIMEOUT_NS 0
87+
6788 /**** 注意! Version */
68-#define VERSION "1.0"
69-#define MODULE_NAME "spike-ad"
89+#define VERSION "1.1"
90+#define MODULE_NAME "spikead"
7091
7192 const char this_driver_name[] = MODULE_NAME;
7293
@@ -102,7 +123,7 @@ struct spike_dev {
102123 struct class *class;
103124 struct spi_device *spi_device;
104125 char *user_buff;
105-// u8 test_data;
126+ struct hrtimer timer;
106127 };
107128
108129 static struct spike_dev spike_dev;
@@ -111,15 +132,11 @@ static struct spike_dev spike_dev;
111132 typedef struct {
112133 unsigned long f_version; // 識別用 f_version
113134 wait_queue_head_t wait; /* read and write queues */
135+ struct semaphore finfo_sem;
114136 int sleep_mode; // 0: 起きてる 1: 待ち
115- int intflag; // 割り込みフラグ 1=割り込み入った
116137 } FileInfo;
117138
118139 static FileInfo finfo;
119-
120-void spike_tasklet_func(unsigned long data);
121-DECLARE_TASKLET(spike_tasklet, spike_tasklet_func, 0);
122-
123140 //
124141 /**** SPI受信データ リングバッファ ******************************************
125142 */
@@ -203,13 +220,46 @@ int ring_full(void)
203220 return 0;
204221 }
205222
206-
223+//
224+/**** SPI受信終了ハンドラ ******************************************
225+ */
207226 /*
208- spike_queue_spi_write()で開始した
209- spi_async()終了後に呼ばれる
210- つまりSPIでデータを受信完了した状態
227+ SPI受信 Completion Handlerでスケジュールされるタスクレット関数
228+ SPI受信データ処理をする
211229 */
212-static void spike_spi_completion_handler(void *arg)
230+void spike_spi_completion_tasklet_func(unsigned long arg)
231+{
232+//printk(KERN_INFO MODULE_NAME" %s\n", __FUNCTION__);
233+ // ここatomic spike_ctl
234+ if (down_interruptible(&spike_ctl.cmd_sem)) {
235+ return;
236+ }
237+ spike_ctl.busy = 0;
238+ spike_ctl.spi_callbacks++;
239+ up(&spike_ctl.cmd_sem);
240+ // ここatomic finfo
241+ if (down_interruptible(&finfo.finfo_sem)) {
242+ return;
243+ }
244+ // 寝ているものを起こす
245+ if (finfo.sleep_mode) {
246+ // 待ちを
247+ wake_up_interruptible(&(finfo.wait)); // 起こす
248+ //printk(KERN_INFO "intsel_interrupt: wakeup %ld\n", fi[i].f_version);
249+ // この間でpoll()でsleep_mode=1になるとまずいのでセマフォで保護している。
250+ finfo.sleep_mode = 0;
251+ }
252+ up(&finfo.finfo_sem);
253+}
254+// タスクレット宣言
255+DECLARE_TASKLET(spike_spi_completion_tasklet, spike_spi_completion_tasklet_func, 0);
256+/*
257+ SPI受信 Completion Handler
258+ spike_queue_spi_write()で開始したspi_async()終了後に呼ばれる
259+ つまりSPIでデータを受信完了すると呼ばれる
260+ Sleep禁止
261+ */
262+void spike_spi_completion_handler(void *arg)
213263 {
214264 unsigned char *p;
215265
@@ -221,21 +271,24 @@ static void spike_spi_completion_handler(void *arg)
221271 memcpy(p, spike_ctl.rx_buff, SPI_DATA_SIZE);
222272 // 実際に受信できたデータ長
223273 spike_ctl.received_len = spike_ctl.msg.actual_length;
224-
225274 // 書き込み位置進める
226275 ring_write_plus();
227276
228- // 寝ているものを起こす
229- if (finfo.sleep_mode) {
230- // 待ちを
231- wake_up_interruptible(&(finfo.wait)); // 起こす
232-//printk(KERN_INFO "intsel_interrupt: wakeup %ld\n", fi[i].f_version);
233- finfo.sleep_mode = 0;
234- finfo.intflag = 1;
235- }
277+ // SPI受信タイムアウトタイマ停止
278+ hrtimer_cancel(&spike_dev.timer);
279+ // DRDY割り込みON
280+ // ココでONにするとGPS受信状態が悪い時などにctrl.busy=1のまま割り込みが入ってしまう可能性があるが、busyは参照していないので良しとする
281+ enable_irq(spike_ctl.irq);
282+
283+ // 後はタスクレットに任せる
284+ tasklet_hi_schedule(&spike_spi_completion_tasklet);
236285 }
286+//
287+/**** DRDY割り込み関係 ******************************************
288+ */
237289 /*
238- spi_async()で送信開始
290+ タスクレットから呼ばれる
291+ spi_async()で送信開始する
239292 受信データはcallback funcで受ける
240293 */
241294 static int spike_queue_spi_write(void)
@@ -243,62 +296,93 @@ static int spike_queue_spi_write(void)
243296 int status;
244297 unsigned long flags;
245298
246- // struct spi_messageを初期化 ゼロクリア
247- spi_message_init(&spike_ctl.msg);
299+//printk(KERN_INFO MODULE_NAME" %s\n", __FUNCTION__);
248300
249- // Callback関数設定
250- spike_ctl.msg.complete = spike_spi_completion_handler;
251- spike_ctl.msg.context = NULL;
252-
253- memset(spike_ctl.tx_buff, 0, SPI_BUFF_SIZE);
254- memset(spike_ctl.rx_buff, 0, SPI_BUFF_SIZE);
255-
256- if (down_interruptible(&spike_ctl.cmd_sem))
301+// ここatomic spike_ctl
302+ if (down_interruptible(&spike_ctl.cmd_sem)) {
257303 return -ERESTARTSYS;
304+ }
305+ // struct spi_messageを初期化 ゼロクリア
306+ spi_message_init(&spike_ctl.msg);
307+ // Callback関数設定
308+ spike_ctl.msg.complete = spike_spi_completion_handler;
309+ spike_ctl.msg.context = NULL;
310+ memset(spike_ctl.tx_buff, 0, SPI_BUFF_SIZE);
311+ memset(spike_ctl.rx_buff, 0, SPI_BUFF_SIZE);
258312 // TXコマンドセット
259313 memcpy(spike_ctl.tx_buff, spike_ctl.cmd_buf, spike_ctl.cmd_len);
260314 // TXコマンドクリア
261315 memset(spike_ctl.cmd_buf, 0, SPI_CMD_MAX);
262- up(&spike_ctl.cmd_sem);
316+ spike_ctl.transfer.tx_buf = spike_ctl.tx_buff;
317+ spike_ctl.transfer.rx_buf = spike_ctl.rx_buff;
318+ spike_ctl.transfer.len = SPI_DATA_SIZE;
263319
264- spike_ctl.transfer.tx_buf = spike_ctl.tx_buff;
265- spike_ctl.transfer.rx_buf = spike_ctl.rx_buff;
266- spike_ctl.transfer.len = SPI_DATA_SIZE;
320+ spi_message_add_tail(&spike_ctl.transfer, &spike_ctl.msg);
321+ up(&spike_ctl.cmd_sem);
322+ // ここまでatomic
267323
268- spi_message_add_tail(&spike_ctl.transfer, &spike_ctl.msg);
324+ // DRDY割り込みOFF
325+ // PICのバッファにデータがあるとSPI受信中に再度DRDYがLowになり割り込みがかかってしまうため
326+ disable_irq(spike_ctl.irq);
269327
328+ // SpinLock
270329 spin_lock_irqsave(&spike_dev.spi_lock, flags);
271-
272- if (spike_dev.spi_device)
273- status = spi_async(spike_dev.spi_device, &spike_ctl.msg);
274- else
275- status = -ENODEV;
276-
330+ // SPI送受信開始
331+ if (spike_dev.spi_device)
332+ status = spi_async(spike_dev.spi_device, &spike_ctl.msg);
333+ else
334+ status = -ENODEV;
277335 spin_unlock_irqrestore(&spike_dev.spi_lock, flags);
278336
279- if (status == 0)
337+ if (status == 0) {
280338 spike_ctl.busy = 1;
281-
339+ // SPI受信タイムアウトタイマスタート
340+ hrtimer_start(&spike_dev.timer,
341+ ktime_set(SPI_TIMEOUT_SEC, SPI_TIMEOUT_NS),
342+ HRTIMER_MODE_REL);
343+ return status;
344+ }
345+
346+ // SPIがエラーなのでDRDY割り込みONに戻す
347+ enable_irq(spike_ctl.irq);
348+ switch(status) {
349+ case -ENODEV:
350+ printk(KERN_WARNING "%s %s spi_async()=ENODEV\n", MODULE_NAME, __FUNCTION__);
351+ break;
352+ case -EBUSY:
353+ printk(KERN_WARNING "%s %s spi_async()=EBUSY\n", MODULE_NAME, __FUNCTION__);
354+ break;
355+ case -EINVAL:
356+ printk(KERN_WARNING "%s %s spi_async()=EINVAL\n", MODULE_NAME, __FUNCTION__);
357+ break;
358+ default:
359+ printk(KERN_WARNING "%s %s spi_async()=%d\n", MODULE_NAME, __FUNCTION__, status);
360+ break;
361+ }
282362 return status;
283363 }
284364 /*
285- Tasklet
286- IRQ Handlerで呼び出される
365+ タスクレット
366+ IRQ Handlerで呼び出しがスケジュールされる
287367 SPI送受信を開始する
288368 */
289369 void spike_tasklet_func(unsigned long data)
290370 {
291371 int status;
372+//printk(KERN_INFO "%s %s()\n", MODULE_NAME, __FUNCTION__);
292373 // SPI送受信開始
293374 status = spike_queue_spi_write();
294375 if (status) {
295376 // error
377+ printk(KERN_ERR "%s %s spike_queue_spi_write()=%d\n", MODULE_NAME, __FUNCTION__, status);
296378 } else {
297379 // ok
298380 }
299381 }
382+// タスクレット宣言
383+DECLARE_TASKLET(spike_tasklet, spike_tasklet_func, 0);
300384 /*
301- DRDY Interrupt Handler
385+ DRDY 割り込みハンドラ
302386 */
303387 static irqreturn_t irq_handler(int irq, void *dev_id)
304388 {
@@ -310,86 +394,30 @@ static irqreturn_t irq_handler(int irq, void *dev_id)
310394 }
311395 #endif
312396 // タスクレットにまかせる
313- tasklet_schedule(&spike_tasklet);
397+ tasklet_hi_schedule(&spike_tasklet);
314398
315399 return IRQ_HANDLED;
316400 }
317-#if 0
318-static ssize_t spike_file_read(struct file *filp, char __user *buff, size_t count,
319- loff_t *offp)
401+//
402+/**** High Res. Timer Callback *****************************************
403+ * SPI受信が正常に終了しなかった場合にタイムアウトで呼ばれる
404+ * DRDY割り込みを有効にする
405+ */
406+static enum hrtimer_restart spike_timer_callback(struct hrtimer *timer)
320407 {
321- size_t len;
322- ssize_t status = 0;
323-
324- if (!buff)
325- return -EFAULT;
326-
327- if (*offp > 0)
328- return 0;
329-
330- if (down_interruptible(&spike_dev.fop_sem))
331- return -ERESTARTSYS;
332-
333-if (spike_ctl.busy) {
334- sprintf(spike_dev.user_buff, "spike_ctl.busy==1\n");
335- count = strlen(spike_dev.user_buff);
336- up(&spike_dev.fop_sem);
337- return count;
338-} else {
339-//sprintf(spike_dev.user_buff, "DMA\n");
340-
341- sprintf(spike_dev.user_buff,
342- "Status: %d\nTX: %d %d %d %d\nRX: %d %d %d %d %d %d %d %d %d %d %d %d %d %d %d %d\nCallback=%d DRDY=%d\n",
343- spike_ctl.msg.status,
344- spike_ctl.tx_buff[0], spike_ctl.tx_buff[1],
345- spike_ctl.tx_buff[2], spike_ctl.tx_buff[3],
346- spike_ctl.rx_buff[0], spike_ctl.rx_buff[1],
347- spike_ctl.rx_buff[2], spike_ctl.rx_buff[3],
348- spike_ctl.rx_buff[4], spike_ctl.rx_buff[5],
349- spike_ctl.rx_buff[6], spike_ctl.rx_buff[7],
350- spike_ctl.rx_buff[8], spike_ctl.rx_buff[9],
351- spike_ctl.rx_buff[10], spike_ctl.rx_buff[11],
352- spike_ctl.rx_buff[12], spike_ctl.rx_buff[13],
353- spike_ctl.rx_buff[14], spike_ctl.rx_buff[15],
354- spike_ctl.spi_callbacks, gpio_get_value(GPIO_DRDY_IN));
355-
356-}
357-// status = spike_do_one_message();
358-//status = spike_send_cmd();
359-//status = spike_rcv_data();
360-
361-#if 0
362-// SPI送受信開始
363-status = spike_queue_spi_write();
364-
365- if (status) {
366- sprintf(spike_dev.user_buff,
367- "spike_do_one_message failed : %d\n",
368- status);
369- }
370- else {
408+ // DRDY割り込みON
409+ if (spike_ctl.irq > 0) {
410+ enable_irq(spike_ctl.irq);
371411 }
372-#endif
373-
374- len = strlen(spike_dev.user_buff);
375-
376- if (len < count)
377- count = len;
378-
379- if (copy_to_user(buff, spike_dev.user_buff, count)) {
380- printk(KERN_ALERT "spike_read(): copy_to_user() failed\n");
381- status = -EFAULT;
382- } else {
383- *offp += count;
384- status = count;
385- }
386-
387- up(&spike_dev.fop_sem);
388-
389- return status;
412+ printk(KERN_WARNING "%s %s spi rcv timeout\n", MODULE_NAME, __FUNCTION__);
413+//printk(KERN_INFO "timer!\n");
414+ return HRTIMER_NORESTART;
390415 }
391-#endif
392-
416+//
417+/**** spike file operation *******************************************
418+ * デバイスファイル操作関係
419+ */
420+// OPEN
393421 static int spike_file_open(struct inode *inode, struct file *filp)
394422 {
395423 int status = 0;
@@ -399,60 +427,72 @@ static int spike_file_open(struct inode *inode, struct file *filp)
399427 if (down_interruptible(&spike_dev.fop_sem))
400428 return -ERESTARTSYS;
401429
402- if (!spike_dev.user_buff) {
403- spike_dev.user_buff = kmalloc(USER_BUFF_SIZE, GFP_KERNEL);
404- if (!spike_dev.user_buff)
405- status = -ENOMEM;
406- }
407-
408- if (finfo.f_version != 0) {
409- printk(KERN_INFO "spike_open: busy\n");
410- return -EBUSY;
411- }
430+ if (!spike_dev.user_buff) {
431+ spike_dev.user_buff = kmalloc(USER_BUFF_SIZE, GFP_KERNEL);
432+ if (!spike_dev.user_buff)
433+ status = -ENOMEM;
434+ }
412435
413- finfo.f_version = filp->f_version;
414- finfo.sleep_mode = 0;
415- finfo.intflag = 0;
416- init_waitqueue_head(&(finfo.wait));
417- filp->private_data = (void*)&finfo; // プライベートデータに構造体ポインタ設定
436+ if (finfo.f_version != 0) {
437+ printk(KERN_INFO "spike_open: busy\n");
438+ up(&spike_dev.fop_sem);
439+ return -EBUSY;
440+ }
418441
419- ring_clear();
442+ finfo.f_version = filp->f_version;
443+ finfo.sleep_mode = 0;
444+ init_waitqueue_head(&(finfo.wait));
445+ filp->private_data = (void*)&finfo; // プライベートデータに構造体ポインタ設定
420446
421447 up(&spike_dev.fop_sem);
422448
449+ spike_ctl.busy = 0;
450+
451+ ring_clear();
452+
423453 return status;
424454 }
425-
455+// CLOSE
426456 static int spike_file_close(struct inode * inode, struct file * file)
427457 {
428458 // printk(KERN_INFO "spike_close: (%Lu)\n",file->f_version);
429459
430460 ((FileInfo *)(file->private_data))->f_version = 0;
431461 ((FileInfo *)(file->private_data))->sleep_mode = 0;
432- ((FileInfo *)(file->private_data))->intflag = 0;
433462 return 0;
434463 }
435-
464+/*
465+ * poll
466+ */
436467 static unsigned int spike_file_poll(struct file *file, struct poll_table_struct *ptab)
437468 {
438469 //printk(KERN_INFO "spike_file_poll: (%ld)\n",file->f_version);
439- // 割り込み入っている
440- if ( ((FileInfo *)(file->private_data))->intflag ) {
441- // フラグクリア
442- ((FileInfo *)(file->private_data))->intflag = 0;
443-//printk(KERN_INFO "spike_file_poll: (%ld) interrupted\n",file->f_version);
444- return POLLIN | POLLRDNORM; // 読み込みOK
445- }
446- // 割り込み入っていないので待ち行列に追加する 割り込みハンドラが起こす
447- poll_wait(file, &(((FileInfo *)(file->private_data))->wait), ptab);
448-//printk(KERN_INFO "spike_file_poll: (%ld) poll_wait\n",file->f_version);
449470
450- // sleep_mode=寝ている
451- ((FileInfo *)(file->private_data))->sleep_mode = 1;
471+ // atomicにしておく
472+ if (down_interruptible(&finfo.finfo_sem))
473+ return -ERESTARTSYS;
474+
475+ // ringバッファにデータがあれば
476+ if (ring_num_get() > 0) {
477+ up(&finfo.finfo_sem);
478+ return POLLIN | POLLRDNORM; // 読み込みOK
479+ }
480+ // ココで割り込みが入ってspike_spi_completion_handler()でring write位置が進むとまずい
481+
482+ // 待ち行列に追加する 割り込みハンドラが起こす
483+ poll_wait(file, &(((FileInfo *)(file->private_data))->wait), ptab);
484+ //printk(KERN_INFO "spike_file_poll: (%ld) poll_wait\n",file->f_version);
485+
486+ // sleep_mode=寝ている
487+ ((FileInfo *)(file->private_data))->sleep_mode = 1;
488+
489+ up(&finfo.finfo_sem);
452490
453491 return 0;
454492 }
455-
493+/*
494+ * ioctl
495+ */
456496 static long spike_file_ioctl(struct file *file, unsigned int cmd, unsigned long arg)
457497 {
458498 int i;
@@ -462,26 +502,30 @@ static long spike_file_ioctl(struct file *file, unsigned int cmd, unsigned long
462502 switch(cmd) {
463503 // SPI送信データ長セット
464504 case CMD_TX_LEN:
465- if (down_interruptible(&spike_ctl.cmd_sem))
505+ // atomic spike_ctl
506+ if (down_interruptible(&spike_ctl.cmd_sem)) {
466507 return -ERESTARTSYS;
467- if (copy_from_user(&spike_ctl.cmd_len, (void *)arg, sizeof(int))) {
468- printk(KERN_ALERT "spike_file_ioctl(): copy_from_user() failed\n");
469- up(&spike_ctl.cmd_sem);
470- return -EFAULT;
471508 }
472-//printk(KERN_INFO "spike_file_ioctl: CMD_TX_LEN %d\n", spike_ctl.cmd_len);
473- if (spike_ctl.cmd_len > SPI_CMD_MAX) spike_ctl.cmd_len = SPI_CMD_MAX;
509+ if (copy_from_user(&spike_ctl.cmd_len, (void *)arg, sizeof(int))) {
510+ printk(KERN_ALERT "spike_file_ioctl(): copy_from_user() failed\n");
511+ up(&spike_ctl.cmd_sem);
512+ return -EFAULT;
513+ }
514+ //printk(KERN_INFO "spike_file_ioctl: CMD_TX_LEN %d\n", spike_ctl.cmd_len);
515+ if (spike_ctl.cmd_len > SPI_CMD_MAX) spike_ctl.cmd_len = SPI_CMD_MAX;
474516 up(&spike_ctl.cmd_sem);
475517 return 0;
476518 // SPI送信データセット
477519 case CMD_TX_SET:
478- if (down_interruptible(&spike_ctl.cmd_sem))
520+ // atomic spike_ctl
521+ if (down_interruptible(&spike_ctl.cmd_sem)) {
479522 return -ERESTARTSYS;
480- if (copy_from_user(&spike_ctl.cmd_buf, (void *)arg, spike_ctl.cmd_len)) {
481- printk(KERN_ALERT "spike_file_ioctl(): copy_from_user() failed\n");
482- up(&spike_ctl.cmd_sem);
483- return -EFAULT;
484523 }
524+ if (copy_from_user(&spike_ctl.cmd_buf, (void *)arg, spike_ctl.cmd_len)) {
525+ printk(KERN_ALERT "spike_file_ioctl(): copy_from_user() failed\n");
526+ up(&spike_ctl.cmd_sem);
527+ return -EFAULT;
528+ }
485529 //printk(KERN_INFO "spike_file_ioctl: CMD_TX_SET %02X %02X %02X %02X\n", spike_ctl.cmd_buf[0], spike_ctl.cmd_buf[1], spike_ctl.cmd_buf[2], spike_ctl.cmd_buf[3]);
486530 up(&spike_ctl.cmd_sem);
487531 return 0;
@@ -521,7 +565,7 @@ static long spike_file_ioctl(struct file *file, unsigned int cmd, unsigned long
521565 return 0;
522566 }
523567 }
524-
568+// File Operation構造体初期化
525569 static const struct file_operations spike_fops = {
526570 .owner = THIS_MODULE,
527571 // .read = spike_file_read,
@@ -530,14 +574,18 @@ static const struct file_operations spike_fops = {
530574 .poll = spike_file_poll,
531575 .unlocked_ioctl = spike_file_ioctl,
532576 };
533-
534-
535-static int spike_probe(struct spi_device *spi_device)
577+//
578+/**** spi device operation *******************************************
579+ */
580+static int spike_probe(struct spi_device *spi)
536581 {
537582 unsigned long flags;
538583
584+printk(KERN_INFO "%s %s() bus=%d,cs=%d\n", MODULE_NAME, __FUNCTION__, spi->master->bus_num, spi->chip_select);
585+
586+ // SpinLock
539587 spin_lock_irqsave(&spike_dev.spi_lock, flags);
540- spike_dev.spi_device = spi_device;
588+ spike_dev.spi_device = spi;
541589 spin_unlock_irqrestore(&spike_dev.spi_lock, flags);
542590
543591 return 0;
@@ -546,13 +594,31 @@ static int spike_probe(struct spi_device *spi_device)
546594 static int spike_remove(struct spi_device *spi_device)
547595 {
548596 unsigned long flags;
597+printk(KERN_INFO "%s %s()\n", MODULE_NAME, __FUNCTION__);
549598
599+ // SPI受信タイムアウトタイマ停止
600+ hrtimer_cancel(&spike_dev.timer);
601+ // SpinLock
550602 spin_lock_irqsave(&spike_dev.spi_lock, flags);
551- spike_dev.spi_device = NULL;
603+ spike_dev.spi_device = NULL;
552604 spin_unlock_irqrestore(&spike_dev.spi_lock, flags);
553605
554606 return 0;
555607 }
608+// SPI Driver構造体初期化
609+static struct spi_driver spike_driver = {
610+ .driver = {
611+ .name = this_driver_name,
612+ .owner = THIS_MODULE,
613+ },
614+ .probe = spike_probe,
615+ .remove = spike_remove,
616+};
617+//
618+/**** spike_init()関係 *****************************************************
619+ * モジュール初期化 load
620+ * モジュール終了 unload
621+ */
556622 /*
557623 SPIデバイスの設定
558624 */
@@ -571,72 +637,50 @@ static int __init add_spike_device_to_bus(void)
571637 printk(KERN_ALERT "Missing modprobe omap2_mcspi?\n");
572638 return -1;
573639 }
574-
575640 spi_device = spi_alloc_device(spi_master);
576641 if (!spi_device) {
577642 put_device(&spi_master->dev);
578643 printk(KERN_ALERT "spi_alloc_device() failed\n");
579644 return -1;
580645 }
581-
646+ // 使用するCSx設定
582647 spi_device->chip_select = SPI_BUS_CS0;
583-
584648 /* Check whether this SPI bus.cs is already claimed */
585649 snprintf(buff, sizeof(buff), "%s.%u",
586650 dev_name(&spi_device->master->dev),
587651 spi_device->chip_select);
588-
589652 pdev = bus_find_device_by_name(spi_device->dev.bus, NULL, buff);
590653 if (pdev) {
591- /* We are not going to use this spi_device, so free it */
654+ // デバイス取り除く
655+ device_del(pdev);
656+ }
657+ spi_device->max_speed_hz = SPI_BUS_SPEED;
658+ spi_device->mode = SPI_MODE_0;
659+ spi_device->bits_per_word = 8;
660+ spi_device->irq = -1;
661+ spi_device->controller_state = NULL;
662+ spi_device->controller_data = NULL;
663+ strlcpy(spi_device->modalias, this_driver_name, SPI_NAME_SIZE);
664+
665+ status = spi_add_device(spi_device);
666+ if (status < 0) {
592667 spi_dev_put(spi_device);
593-
594- /*
595- * There is already a device configured for this bus.cs
596- * It is okay if it us, otherwise complain and fail.
597- */
598- if (pdev->driver && pdev->driver->name &&
599- strcmp(this_driver_name, pdev->driver->name)) {
600- printk(KERN_ALERT
601- "Driver [%s] already registered for %s\n",
602- pdev->driver->name, buff);
603- status = -1;
604- }
605- } else {
606- spi_device->max_speed_hz = SPI_BUS_SPEED;
607- spi_device->mode = SPI_MODE_0;
608- spi_device->bits_per_word = 8;
609- spi_device->irq = -1;
610- spi_device->controller_state = NULL;
611- spi_device->controller_data = NULL;
612- strlcpy(spi_device->modalias, this_driver_name, SPI_NAME_SIZE);
613-
614- status = spi_add_device(spi_device);
615- if (status < 0) {
616- spi_dev_put(spi_device);
617- printk(KERN_ALERT "spi_add_device() failed: %d\n",
618- status);
619- }
668+ printk(KERN_ALERT "spi_add_device() failed: %d\n",
669+ status);
620670 }
621-
622671 put_device(&spi_master->dev);
623672
624673 return status;
625674 }
626675
627-static struct spi_driver spike_driver = {
628- .driver = {
629- .name = this_driver_name,
630- .owner = THIS_MODULE,
631- },
632- .probe = spike_probe,
633- .remove = __devexit_p(spike_remove),
634-};
635-
676+/*
677+ * spike_ctl初期化
678+ */
636679 static int __init spike_init_spi(void)
637680 {
638681 int error;
639-
682+
683+ spike_ctl.busy = 0;
640684 spike_ctl.tx_buff = kmalloc(SPI_BUFF_SIZE, GFP_KERNEL | GFP_DMA);
641685 if (!spike_ctl.tx_buff) {
642686 error = -ENOMEM;
@@ -648,64 +692,41 @@ static int __init spike_init_spi(void)
648692 error = -ENOMEM;
649693 goto spike_init_error;
650694 }
651-
695+// probe()関数などをspi driverに登録する
652696 error = spi_register_driver(&spike_driver);
653697 if (error < 0) {
654698 printk(KERN_ALERT "spi_register_driver() failed %d\n", error);
655699 goto spike_init_error;
656700 }
657-
701+ // SPIデバイス設定
658702 error = add_spike_device_to_bus();
659703 if (error < 0) {
660704 printk(KERN_ALERT "add_spike_to_bus() failed\n");
661705 spi_unregister_driver(&spike_driver);
662706 goto spike_init_error;
663707 }
664-// 一貫性のあるDMAマッピング
665-/*
666-spike_dev.spi_device->dev.coherent_dma_mask = 0xFFFFFFFF;
667-
668-spike_ctl.tx_buff = dma_alloc_coherent(&(spike_dev.spi_device->dev), SPI_BUFF_SIZE, &spike_ctl.tx_dma, GFP_ATOMIC);
669- if (!spike_ctl.tx_buff) {
670- error = -ENOMEM;
671- goto spike_init_error;
672- }
673-
674-// spike_ctl.rx_buff = kmalloc(SPI_BUFF_SIZE, GFP_KERNEL | GFP_DMA);
675-spike_ctl.rx_buff = dma_alloc_coherent(&(spike_dev.spi_device->dev), SPI_BUFF_SIZE, &spike_ctl.rx_dma, GFP_ATOMIC);
676- if (!spike_ctl.rx_buff) {
677- error = -ENOMEM;
678- goto spike_init_error;
679- }
680-*/
681708
682709 return 0;
683710
684711 spike_init_error:
685-
686712 if (spike_ctl.tx_buff) {
687713 kfree(spike_ctl.tx_buff);
688714 spike_ctl.tx_buff = 0;
689-//dma_free_coherent(&(spike_dev.spi_device->dev), SPI_BUFF_SIZE, spike_ctl.tx_buff, spike_ctl.tx_dma);
690-//spike_ctl.tx_dma = 0;
691715 }
692-
693716 if (spike_ctl.rx_buff) {
694717 kfree(spike_ctl.rx_buff);
695718 spike_ctl.rx_buff = 0;
696-//dma_free_coherent(&(spike_dev.spi_device->dev), SPI_BUFF_SIZE, spike_ctl.rx_buff, spike_ctl.rx_dma);
697-//spike_ctl.rx_dma = 0;
698719 }
699-
700720 return error;
701721 }
702-
703-
722+/*
723+ * spike_dev.devt cdev初期化
724+ */
704725 static int __init spike_init_cdev(void)
705726 {
706727 int error;
707728
708- spike_dev.devt = MKDEV(0, 0);
729+ spike_dev.devt = MKDEV(0, 0); // デバイス番号自動割り当て
709730
710731 error = alloc_chrdev_region(&spike_dev.devt, 0, 1, this_driver_name);
711732 if (error < 0) {
@@ -726,7 +747,10 @@ static int __init spike_init_cdev(void)
726747
727748 return 0;
728749 }
729-
750+/*
751+ * spike_dev.class 初期化
752+ * デバイスファイル/dev/spikeadX作る
753+ */
730754 static int __init spike_init_class(void)
731755 {
732756 spike_dev.class = class_create(THIS_MODULE, this_driver_name);
@@ -746,13 +770,13 @@ static int __init spike_init_class(void)
746770
747771 return 0;
748772 }
749-int spike_init_gpio(void)
773+// GPIO関係初期化
774+static int spike_init_gpio(void)
750775 {
751776 if (gpio_request(GPIO_DRDY_IN, "GPIO_DRDY_IN")) {
752777 printk(KERN_ALERT "gpio_request(GPIO_DRDY_IN) failed\n");
753778 goto init_gpio_fail_1;
754779 }
755-
756780 if (gpio_direction_input(GPIO_DRDY_IN)) {
757781 printk(KERN_ALERT "gpio_direction_input(GPIO_DRDY_IN) failed\n");
758782 goto init_gpio_fail_2;
@@ -780,7 +804,6 @@ init_gpio_fail_2:
780804 gpio_free(GPIO_DRDY_IN);
781805
782806 init_gpio_fail_1:
783-
784807 return -1;
785808 }
786809 void spike_free_gpio(void)
@@ -790,15 +813,17 @@ void spike_free_gpio(void)
790813 gpio_free(GPIO_TOGGLE_OUT);
791814 #endif
792815 }
793-int spike_init_irq(void)
816+// DRDY割り込み初期化
817+static int spike_init_irq(void)
794818 {
795819 int result;
796820
797- spike_ctl.irq = OMAP_GPIO_IRQ(GPIO_DRDY_IN);
821+// spike_ctl.irq = OMAP_GPIO_IRQ(GPIO_DRDY_IN);
822+ spike_ctl.irq = gpio_to_irq(GPIO_DRDY_IN);
798823 result = request_irq(spike_ctl.irq,
799824 irq_handler,
800825 IRQF_TRIGGER_FALLING,
801- "spike",
826+ MODULE_NAME,
802827 &spike_ctl);
803828
804829 if (result < 0) {
@@ -808,41 +833,60 @@ int spike_init_irq(void)
808833
809834 return 0;
810835 }
811-void spike_free_irq(void)
836+static void spike_free_irq(void)
812837 {
813838 free_irq(spike_ctl.irq, &spike_ctl);
814839 }
815-
840+/*
841+ * モジュール全体の初期化
842+ */
816843 static int __init spike_init(void)
817844 {
845+printk(KERN_INFO "%s %s\n", MODULE_NAME, __FUNCTION__);
818846 memset(&spike_dev, 0, sizeof(spike_dev));
819847 memset(&spike_ctl, 0, sizeof(spike_ctl));
820848
821- sema_init(&spike_dev.fop_sem, 1);
822849 spin_lock_init(&spike_dev.spi_lock);
823-
824- sema_init(&spike_ctl.cmd_sem, 1);
850+ sema_init(&spike_dev.fop_sem, 1); // spike_dev排他アクセス用セマフォ初期化
851+ sema_init(&spike_ctl.cmd_sem, 1); // spike_ctl排他アクセス用セマフォ初期化
852+ sema_init(&finfo.finfo_sem, 1); // finfo排他アクセス用セマフォ初期化
825853
826854 finfo.f_version = 0; // 未使用マーク
855+
827856 // リングバッファ初期化
828857 ring_init();
829858
830- if (spike_init_cdev() < 0)
859+ if (spike_init_cdev() < 0) {
860+ printk(KERN_ALERT "call spike_init_cdev() FAILED\n");
831861 goto fail_1;
862+ }
832863
833- if (spike_init_class() < 0)
864+//printk("call spike_init_class()\n");
865+ if (spike_init_class() < 0) {
866+ printk(KERN_ALERT "call spike_init_class() FAILED\n");
834867 goto fail_2;
835-
836- if (spike_init_spi() < 0)
868+ }
869+ // spike_ctl初期化
870+//printk("call spike_init_spi()\n");
871+ if (spike_init_spi() < 0) {
872+ printk(KERN_ALERT "call spike_init_spi() FAILED\n");
837873 goto fail_3;
874+ }
838875 // DRDY GPIO144 Input config
839- if (spike_init_gpio() < 0)
876+//printk("call spike_init_gpio()\n");
877+ if (spike_init_gpio() < 0) {
878+ printk(KERN_ALERT "call spike_init_gpio() FAILED\n");
840879 goto fail_4;
841-#if 1
880+ }
842881 // DRDY GPIO144 Interrupt config
843- if (spike_init_irq() < 0)
882+//printk("call spike_init_irq()\n");
883+ if (spike_init_irq() < 0) {
884+ printk(KERN_ALERT "call spike_init_irq() FAILED\n");
844885 goto fail_5;
845-#endif
886+ }
887+ // SPI受信タイムアウト用タイマ
888+ hrtimer_init(&spike_dev.timer, CLOCK_MONOTONIC, HRTIMER_MODE_REL);
889+ spike_dev.timer.function = spike_timer_callback;
846890
847891 printk(KERN_INFO "%s %s initialized\n", MODULE_NAME, VERSION);
848892 return 0;
@@ -868,16 +912,25 @@ fail_1:
868912 return -1;
869913 }
870914 module_init(spike_init);
871-
915+/*
916+ * モジュール全体の終了処理
917+ */
872918 static void __exit spike_exit(void)
873919 {
874- spi_unregister_device(spike_dev.spi_device);
875- spi_unregister_driver(&spike_driver);
920+ // DRDY割り込みOFF
921+ disable_irq(spike_ctl.irq);
922+printk(KERN_INFO "%s %s()\n", MODULE_NAME, __FUNCTION__);
876923
877-#if 1
878924 spike_free_irq();
879-#endif
880925 spike_free_gpio();
926+ // 割り込みかからないようにしてからタスクレットkill
927+ tasklet_kill(&spike_tasklet); // DRDY割り込み用
928+ tasklet_kill(&spike_spi_completion_tasklet); // SPI受信完了用
929+
930+//printk(KERN_INFO "spi_unregister_device()\n");
931+ spi_unregister_device(spike_dev.spi_device); // spike_remove()呼ばれる
932+//printk(KERN_INFO "spi_unregister_driver()\n");
933+ spi_unregister_driver(&spike_driver);
881934
882935 device_destroy(spike_dev.class, spike_dev.devt);
883936 class_destroy(spike_dev.class);
@@ -887,11 +940,9 @@ static void __exit spike_exit(void)
887940
888941 if (spike_ctl.tx_buff)
889942 kfree(spike_ctl.tx_buff);
890-//dma_free_coherent(&(spike_dev.spi_device->dev), SPI_BUFF_SIZE, spike_ctl.tx_buff, spike_ctl.tx_dma);
891943
892944 if (spike_ctl.rx_buff)
893945 kfree(spike_ctl.rx_buff);
894-//dma_free_coherent(&(spike_dev.spi_device->dev), SPI_BUFF_SIZE, spike_ctl.rx_buff, spike_ctl.rx_dma);
895946
896947 if (spike_dev.user_buff)
897948 kfree(spike_dev.user_buff);
@@ -903,5 +954,5 @@ module_exit(spike_exit);
903954 MODULE_AUTHOR("Naoya Takamura");
904955 MODULE_DESCRIPTION("sciLog AD SPI driver based on spike");
905956 MODULE_LICENSE("GPL");
906-MODULE_VERSION("1.0");
957+MODULE_VERSION(VERSION);
907958
--- a/overo-source-me.txt
+++ /dev/null
@@ -1,31 +0,0 @@
1-if [[ -z "${KERNEL_CROSS_BUILD_ENVIRONMENT_SOURCED}" ]]; then
2-
3- MACHINE=overo
4-
5- # normally OETMP will be ${OVEROTOP}/tmp, but really it is whatever TMPDIR
6- # in ${OVEROTOP}/build/conf/site.conf points to.
7- OETMP=${OVEROTOP}/tmp
8- # OETMP=/oe5
9-
10- SYSROOTSDIR=${OETMP}/sysroots
11- STAGEDIR=${SYSROOTSDIR}/`uname -m`-linux/usr
12-
13- export KERNELDIR=${SYSROOTSDIR}/${MACHINE}-angstrom-linux-gnueabi/kernel
14-
15- PATH=${PATH}:${STAGEDIR}/bin:${STAGEDIR}/armv7a/bin
16-
17- unset CFLAGS CPPFLAGS CXXFLAGS LDFLAGS MACHINE
18-
19- export ARCH="arm"
20- export CROSS_COMPILE="arm-angstrom-linux-gnueabi-"
21- export CC="arm-angstrom-linux-gnueabi-gcc"
22- export LD="arm-angstrom-linux-gnueabi-ld"
23- export STRIP="arm-angstrom-linux-gnueabi-strip"
24-
25- export KERNEL_CROSS_BUILD_ENVIRONMENT_SOURCED="true"
26-
27- echo "Altered environment for cross building a kernel module with OE tools."
28-else
29- echo "Cross build environment already configured."
30-fi
31-
--- /dev/null
+++ b/spike-ad-scilog_1.1.bb
@@ -0,0 +1,20 @@
1+SUMMARY = "Example of how to build an external Linux kernel module"
2+LICENSE = "GPLv2"
3+LIC_FILES_CHKSUM = "file://COPYING;md5=12f884d2ae1ff87c09e5b7ccc2c4ca7e"
4+#TOOLCHAIN_TARGET_TASK_append = " kernel-devsrc"
5+
6+inherit module
7+
8+PR = "r0"
9+PV = "1.1"
10+
11+SRC_URI = "file://Makefile \
12+ file://spike-ad.c \
13+ file://spike-ad.h \
14+ file://COPYING \
15+ "
16+
17+S = "${WORKDIR}"
18+
19+# The inherit of module.bbclass will automatically name module packages with
20+# "kernel-module-" prefix as required by the oe-core build environment.
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