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authorDenys Dmytriyenko <denis@denix.org>2009-03-17 14:32:59 -0400
committerDenys Dmytriyenko <denis@denix.org>2009-03-17 14:32:59 -0400
commit709c4d66e0b107ca606941b988bad717c0b45d9b (patch)
tree37ee08b1eb308f3b2b6426d5793545c38396b838 /recipes/robostix-module
parentfa6cd5a3b993f16c27de4ff82b42684516d433ba (diff)
rename packages/ to recipes/ per earlier agreement
See links below for more details: http://thread.gmane.org/gmane.comp.handhelds.openembedded/21326 http://thread.gmane.org/gmane.comp.handhelds.openembedded/21816 Signed-off-by: Denys Dmytriyenko <denis@denix.org> Acked-by: Mike Westerhof <mwester@dls.net> Acked-by: Philip Balister <philip@balister.org> Acked-by: Khem Raj <raj.khem@gmail.com> Acked-by: Marcin Juszkiewicz <hrw@openembedded.org> Acked-by: Koen Kooi <koen@openembedded.org> Acked-by: Frans Meulenbroeks <fransmeulenbroeks@gmail.com>
Diffstat (limited to 'recipes/robostix-module')
-rw-r--r--recipes/robostix-module/files/Makefile19
-rw-r--r--recipes/robostix-module/files/robostix.c1011
-rw-r--r--recipes/robostix-module/files/robostix.h114
-rwxr-xr-xrecipes/robostix-module/files/robostix.init53
-rw-r--r--recipes/robostix-module/robostix-module.bb36
5 files changed, 1233 insertions, 0 deletions
diff --git a/recipes/robostix-module/files/Makefile b/recipes/robostix-module/files/Makefile
new file mode 100644
index 0000000000..e242da4feb
--- /dev/null
+++ b/recipes/robostix-module/files/Makefile
@@ -0,0 +1,19 @@
+#############################################################################
+#
+# Makefile for building the robostix module
+#
+#############################################################################
+
+obj-m = robostix.o
+
+PWD = $(shell pwd)
+KBUILD_FLAGS = -C $(KERNEL_PATH) M=$(PWD) KERNELRELEASE=$(KERNELRELEASE)
+
+default: modules
+
+modules:
+ $(MAKE) $(KBUILD_FLAGS) modules
+
+clean:
+ rm -rf *.o *~ *.ko *.mod.c
+
diff --git a/recipes/robostix-module/files/robostix.c b/recipes/robostix-module/files/robostix.c
new file mode 100644
index 0000000000..1b3adac577
--- /dev/null
+++ b/recipes/robostix-module/files/robostix.c
@@ -0,0 +1,1011 @@
+/****************************************************************************
+*
+* Copyright (c) 2006 Dave Hylands <dhylands@gmail.com>
+*
+* This program is free software; you can redistribute it and/or modify
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
+*
+* Alternatively, this software may be distributed under the terms of BSD
+* license.
+*
+* See README and COPYING for more details.
+*
+****************************************************************************/
+/**
+*
+* robostix.c
+*
+* PURPOSE:
+*
+* This implements a driver for using the robostix from the gumstix
+*
+* Initially, this contains the required support to emulate enough of the
+* parallel port interface to allow avrdude to program the ATMega128.
+*
+*****************************************************************************/
+
+/* ---- Include Files ---------------------------------------------------- */
+
+#include <linux/module.h>
+#include <linux/init.h>
+#include <linux/fs.h>
+
+#include <linux/parport.h>
+#include <linux/ppdev.h>
+#include <linux/sysctl.h>
+#include <linux/cdev.h>
+#include <linux/device.h>
+#include <linux/version.h>
+
+#include <asm/delay.h>
+#include <asm/uaccess.h>
+
+#include <asm/arch/hardware.h>
+#include <asm/arch/pxa-regs.h>
+
+#include "robostix.h"
+
+/****************************************************************************
+*
+* This driver assumes that the robostix uses the following GPIO pins:
+*
+* Robostix gumstix ATmega
+* Symbol GPIO Dir Symbol Description
+* ---------- ---- --- -------------- -------------------------------------
+* IR_RXD 46 in ATM_TX0 PE1 Acts as PDO or MISO for programming
+* IR_TXD 47 out ATM_RX0 PE0 Acts as PDI or MOSI for programming
+*
+* L_DD11 69 in ATM_IRQ PE2 IRQ from ATmega128 to gumstix
+* L_DD12 70 out Enable for Vcc5 and AVCC for the ATMega
+* L_DD14 72 out Active low enable for the 245's
+* L_DD15 73 out ATM_RESET Resets the processor
+*
+* The following shows the mapping of the SPI port for the gumstix:
+*
+* NSSPCLK 81 out ATM_SCK Acts as SCK for SPI use
+* NSSPFRAME 82 out ATM_SS Acts as SS for SPI use
+* X_MOSI 83 out ATM_MOSI Acts as MOSI for SPI use
+* X_MISO 84 in ATM_MISO Acts as MISO for SPI use
+*
+* On the verdex, the mapping for the SPI port is slightly different:
+*
+* SSPCLK2 19 out ATM_SCK Acts as SCK for SPI use
+* SSPSFRM2 14 out ATM_SS Acts as SS for SPI use
+* SSPTXD2 13 out ATM_MOSI Acts as MOSI for SPI use
+* SSPRXD2 11 in ATM_MISO Acts as MISO for SPI use
+*
+* X_SCL - i/o ATM_SCL i2c clock
+* X_SDA - i/o ATM_SDA i2c data
+*
+*****************************************************************************/
+
+//---------------------------------------------------------------------------
+//
+// This was extracted from avrdude, and it gives the pin configuration for
+// AVR Dude's default programmer. UISP calls it "BSD"
+// This is what I've chosen for this driver to implement.
+
+#if 0
+programmer
+ id = "bsd";
+ desc = "Brian Dean's Programmer, http://www.bsdhome.com/avrdude/";
+ type = par;
+ vcc = 2, 3, 4, 5;
+ reset = 7;
+ sck = 8;
+ mosi = 9;
+ miso = 10;
+;
+#endif
+//---------------------------------------------------------------------------
+//
+// The following was extracted from avrdude. It basically gives the pin
+// number to register mapping that is in effect for the parallel port.
+//
+// I added the comments on the right which shows pin usage for the default
+// programmer.
+//
+// From this, we can glean that the Control register is never used, and none
+// of the signals which are used are inverted.
+//
+// Furthermore, all of the Data accesses are writes and all of the Status
+// accesses are reads.
+
+#if 0
+struct ppipins_t {
+ int pin;
+ int reg;
+ int bit;
+ int inverted;
+};
+
+static struct ppipins_t pins[] = {
+ { 1, PPICTRL, 0x01, 1 },
+ { 2, PPIDATA, 0x01, 0 }, // Vcc
+ { 3, PPIDATA, 0x02, 0 }, // Vcc
+ { 4, PPIDATA, 0x04, 0 }, // Vcc
+ { 5, PPIDATA, 0x08, 0 }, // Vcc
+ { 6, PPIDATA, 0x10, 0 },
+ { 7, PPIDATA, 0x20, 0 }, // Reset
+ { 8, PPIDATA, 0x40, 0 }, // SCK
+ { 9, PPIDATA, 0x80, 0 }, // MOSI
+ { 10, PPISTATUS, 0x40, 0 }, // MISO
+ { 11, PPISTATUS, 0x80, 1 },
+ { 12, PPISTATUS, 0x20, 0 },
+ { 13, PPISTATUS, 0x10, 0 },
+ { 14, PPICTRL, 0x02, 1 },
+ { 15, PPISTATUS, 0x08, 0 },
+ { 16, PPICTRL, 0x04, 0 },
+ { 17, PPICTRL, 0x08, 1 }
+};
+
+#endif
+
+#define PPI_DATA_VCC_MASK ( 0x01 | 0x02 | 0x04 | 0x08 )
+#define PPI_DATA_RESET_MASK ( 0x20 )
+#define PPI_DATA_SCK_MASK ( 0x40 )
+#define PPI_DATA_MOSI_MASK ( 0x80 )
+
+#define PPI_STATUS_MISO_MASK ( 0x40 )
+
+/* ---- Public Variables ------------------------------------------------- */
+/* ---- Private Constants and Types -------------------------------------- */
+
+#define USE_SYSCTL 1
+
+#if 1
+# if USE_SYSCTL
+# define ROBO_DEBUG( flag, fmt, args... ) do { if ( gDebug ## flag ) printk( "%s: " fmt, __FUNCTION__ , ## args ); } while (0)
+# else
+# define ROBO_DEBUG( flag, fmt, args... ) printk( "%s: " fmt, __FUNCTION__ , ## args )
+# endif
+#else
+# define ROBO_DEBUG( flag, fmt, args... )
+#endif
+
+#define SET_GPIO( pin, val ) do { if ( val ) { GPSR( pin ) = GPIO_bit( pin ); } else { GPCR( pin ) = GPIO_bit( pin ); }} while(0)
+#define GET_GPIO( pin ) (( GPLR( pin ) & GPIO_bit( pin )) != 0 )
+
+// The Alternate function register is 2 bits per pin, so we can't use the
+// GPIO_bit macro.
+
+#define GPIO_AF_shift(x) (((x) & 0x0F ) << 1 )
+#define GPIO_AF_mask(x) ( 3 << GPIO_AF_shift( x ))
+
+/*
+ * Define the mappings between various GPIO pins and functions on the robostix
+ * board.
+ */
+
+#define ROBOSTIX_GPIO_ATM_IRQ GPIO69_LDD_11
+#define ROBOSTIX_GPIO_VCC5_ENABLE GPIO70_LDD_12
+#define ROBOSTIX_GPIO_245_ENABLE GPIO72_LDD_14
+#define ROBOSTIX_GPIO_ATM_RESET GPIO73_LDD_15
+
+#ifdef CONFIG_PXA27x
+# define ROBOSTIX_GPIO_ATM_SCK ( 19 | GPIO_ALT_FN_1_OUT )
+# define ROBOSTIX_GPIO_ATM_SS ( 14 | GPIO_ALT_FN_2_OUT )
+# define ROBOSTIX_GPIO_ATM_MOSI ( 13 | GPIO_ALT_FN_1_OUT )
+# define ROBOSTIX_GPIO_ATM_MISO ( 11 | GPIO_ALT_FN_2_IN )
+#else
+# define ROBOSTIX_GPIO_ATM_SCK GPIO81_NSCLK
+# define ROBOSTIX_GPIO_ATM_SS GPIO82_NSFRM
+# define ROBOSTIX_GPIO_ATM_MOSI GPIO83_NSTXD
+# define ROBOSTIX_GPIO_ATM_MISO GPIO84_NSRXD
+#endif
+
+#define ROBOSTIX_GPIO_IR_RXD_5V GPIO46_STRXD
+#define ROBOSTIX_GPIO_IR_TXD_5V GPIO47_STTXD
+
+// Since IR TxD/RxD behave like MOSI/MISO during programming, we define a
+// couple of aliases
+
+#define ROBOSTIX_GPIO_ATM_PGM_MOSI ROBOSTIX_GPIO_IR_TXD_5V
+#define ROBOSTIX_GPIO_ATM_PGM_MISO ROBOSTIX_GPIO_IR_RXD_5V
+
+
+typedef enum
+{
+ RoboStixGpioIn,
+ RoboStixGpioOut,
+} PinMode_e;
+
+typedef struct
+{
+ unsigned grer;
+ unsigned gfer;
+ unsigned gafr;
+ unsigned gpdr;
+ unsigned gplr;
+
+} PinConfig_t;
+
+/* ---- Private Variables ------------------------------------------------ */
+
+#define ROBOSTIX_DEV_NAME "robostix"
+
+static char gBanner[] __initdata = KERN_INFO "Robostix Driver Compiled: " __DATE__ " at " __TIME__ "\n";
+
+static PinConfig_t gIrTxdConfig;
+static PinConfig_t gIrRxdConfig;
+
+dev_t gRobostixDevNum;
+struct cdev gRobostixCDev;
+struct class *gRobostixClass;
+
+#if USE_SYSCTL
+
+static int gDebugTrace = 0;
+static int gDebugIoctl = 0;
+static int gDebugError = 1;
+
+static struct ctl_table_header *gSysCtlHeader;
+
+static struct ctl_table gSysCtlRobostix[] =
+{
+ {
+ .ctl_name = CTL_ROBOSTIX_DEBUG_TRACE,
+ .procname = "debug-trace",
+ .data = &gDebugTrace,
+ .maxlen = sizeof( int ),
+ .mode = 0644,
+ .proc_handler = &proc_dointvec
+ },
+ {
+ .ctl_name = CTL_ROBOSTIX_DEBUG_IOCTL,
+ .procname = "debug-ioctl",
+ .data = &gDebugIoctl,
+ .maxlen = sizeof( int ),
+ .mode = 0644,
+ .proc_handler = &proc_dointvec
+ },
+ {
+ .ctl_name = CTL_ROBOSTIX_DEBUG_ERROR,
+ .procname = "debug-error",
+ .data = &gDebugError,
+ .maxlen = sizeof( int ),
+ .mode = 0644,
+ .proc_handler = &proc_dointvec
+ },
+ { 0 }
+};
+
+static struct ctl_table gSysCtl[] =
+{
+ {
+ .ctl_name = CTL_ROBOSTIX,
+ .procname = "robostix",
+ .mode = 0555,
+ .child = gSysCtlRobostix
+ },
+ { 0 }
+};
+
+#endif // USE_SYSCTL
+
+/* ---- Private Function Prototypes -------------------------------------- */
+
+static void robostix_configure_pin( int pin, PinMode_e pinMode );
+static void robostix_get_pin_config( int pin, PinConfig_t *pinConfig );
+static void robostix_set_pin_config( int pin, const PinConfig_t *pinConfig );
+
+static void robostix_exit( void );
+static int robostix_init( void );
+static int robostix_ioctl( struct inode *inode, struct file *file, unsigned int cmd, unsigned long arg );
+static int robostix_open( struct inode *inode, struct file *file );
+static int robostix_release( struct inode *inode, struct file *file );
+
+/****************************************************************************
+*
+* File Operations (these are the device driver entry points)
+*
+*****************************************************************************/
+
+static struct file_operations robostix_fops =
+{
+ owner: THIS_MODULE,
+ ioctl: robostix_ioctl,
+ open: robostix_open,
+ release: robostix_release,
+};
+
+/* ---- Functions -------------------------------------------------------- */
+
+/****************************************************************************
+*
+* robostix_configure_pin
+*
+* Configures a GPIO pin for use with the RoboStix.
+*
+*****************************************************************************/
+
+void robostix_configure_pin( int pin, PinMode_e pinMode )
+{
+ // Make sure that interrupts on rising/falling edges are turned off. This
+ // is a bit paranoid, but might as well be sure.
+
+ GRER( pin ) &= ~GPIO_bit( pin );
+ GFER( pin ) &= ~GPIO_bit( pin );
+
+ // Set the pin to be a GPIO pin
+
+ GAFR( pin ) &= ~GPIO_AF_mask( pin ); // AF = 0 is GPIO
+
+ // Reprogram the direction of the pin.
+
+ if ( pinMode == RoboStixGpioIn )
+ {
+ GPDR( pin ) &= ~GPIO_bit( pin ); // in
+ }
+ else
+ {
+ GPDR( pin ) |= GPIO_bit( pin ); // out
+ }
+
+} // robostix_configure_pin
+
+/****************************************************************************
+*
+* robostix_get_pin_config
+*
+* Retrieves the current pin configuration and stores it in @a pinConfig.
+*
+*****************************************************************************/
+
+void robostix_get_pin_config( int pin, PinConfig_t *pinConfig )
+{
+ pinConfig->grer = GRER( pin ) & GPIO_bit( pin );
+ pinConfig->gfer = GFER( pin ) & GPIO_bit( pin );
+ pinConfig->gafr = GAFR( pin ) & GPIO_AF_mask( pin );
+ pinConfig->gpdr = GPDR( pin ) & GPIO_bit( pin );
+ pinConfig->gplr = GPLR( pin ) & GPIO_bit( pin );
+
+} // robostix_get_pin_config
+
+/****************************************************************************
+*
+* robostix_set_pin_config
+*
+* Restores the pin configuration to a previously saved comfiguration.
+*
+*****************************************************************************/
+
+void robostix_set_pin_config( int pin, const PinConfig_t *pinConfig )
+{
+ GRER( pin ) = ( GRER( pin ) & ~GPIO_bit( pin )) | ( pinConfig->grer & GPIO_bit( pin ));
+ GFER( pin ) = ( GFER( pin ) & ~GPIO_bit( pin )) | ( pinConfig->gfer & GPIO_bit( pin ));
+ GPDR( pin ) = ( GPDR( pin ) & ~GPIO_bit( pin )) | ( pinConfig->gpdr & GPIO_bit( pin ));
+ GAFR( pin ) = ( GAFR( pin ) & ~GPIO_AF_mask( pin )) | ( pinConfig->gafr & GPIO_AF_mask( pin ));
+
+ if (( pinConfig->gplr & GPIO_bit( pin )) == 0 )
+ {
+ GPSR( pin ) |= GPIO_bit( pin );
+ }
+ else
+ {
+ GPCR( pin ) |= GPIO_bit( pin );
+ }
+
+} // robostix_set_pin_config
+
+/****************************************************************************
+*
+* robostix_exit
+*
+* Called to perform module cleanup when the module is unloaded.
+*
+*****************************************************************************/
+
+void robostix_exit( void )
+{
+ ROBO_DEBUG( Trace, "called\n" );
+
+ class_device_destroy( gRobostixClass, gRobostixDevNum );
+ class_destroy( gRobostixClass );
+
+ cdev_del( &gRobostixCDev );
+
+#if USE_SYSCTL
+ if ( gSysCtlHeader != NULL )
+ {
+ unregister_sysctl_table( gSysCtlHeader );
+ }
+#endif
+
+ unregister_chrdev_region( gRobostixDevNum, 1 );
+
+#if 0
+ unregister_chrdev( ROBOSTIX_MAJOR, ROBOSTIX_DEV_NAME );
+#endif
+
+} // robostix_exit
+
+/****************************************************************************
+*
+* robostix_init
+*
+* Called to perform module initialization when the module is loaded.
+*
+*****************************************************************************/
+
+int __init robostix_init( void )
+{
+ int rc;
+
+ ROBO_DEBUG( Trace, "called\n" );
+
+ printk( gBanner);
+
+#if 0
+ // Register our device with Linux
+
+ if (( rc = register_chrdev( ROBOSTIX_MAJOR, ROBOSTIX_DEV_NAME, &robostix_fops )) < 0 )
+ {
+ printk( KERN_WARNING "robostix: register_chrdev failed for major %d\n", ROBOSTIX_MAJOR );
+ return rc;
+ }
+#endif
+
+ if (( rc = alloc_chrdev_region( &gRobostixDevNum, 0, 1, ROBOSTIX_DEV_NAME )) < 0 )
+ {
+ printk( KERN_WARNING "robostix: Unable to allocate major, err: %d\n", rc );
+ return rc;
+ }
+
+#if USE_SYSCTL
+ #if ( LINUX_VERSION_CODE <= KERNEL_VERSION( 2, 6, 20 ))
+ gSysCtlHeader = register_sysctl_table( gSysCtl, 0 );
+ if ( gSysCtlHeader != NULL )
+ {
+ gSysCtlHeader->ctl_table->child->de->owner = THIS_MODULE;
+ }
+ #else
+ gSysCtlHeader = register_sysctl_table( gSysCtl );
+ #endif
+#endif
+
+ // Initialize the various GPIO pins that control the Robostix.
+ //
+ // IR_RXD 46 in ATM_TX0 PE1 Acts as PDO or MISO for programming
+ // IR_TXD 47 out ATM_RX0 PE0 Acts as PDI or MOSI for programming
+ //
+ // L_DD11 69 in ATM_IRQ PE2 IRQ from ATmega128 to gumstix
+ // L_DD12 70 out Enable for Vcc5 and AVCC for the ATMega
+ // L_DD14 72 out Active low enable for the 245's
+ // L_DD15 73 out ATM_RESET Resets the processor
+ //
+ // NSSPCLK 81 out ATM_SCK Acts as SCK for SPI use
+ // NSSPFRAME 82 out ATM_SS Acts as SS for SPI use
+ // X_MOSI 83 out ATM_MOSI Acts as MOSI for SPI use
+ // X_MISO 84 in ATM_MISO Acts as MISO for SPI use
+ //
+ // For now, we initialize things so that they continue on the way that
+ // they were when the gumstix boots:
+ //
+ // 245 is enabled
+ // voltage regulators are enabled
+ // Robostix is held in Reset
+ //
+ // I'd like to either see the voltage regulators in a disabled state
+ // or see the robostix not be held in reset so that we don't have sensors
+ // and motors and stuff going wild while the gumstix boots.
+ //
+ // The gumstix console runs through the '245 so we make sure to leave
+ // it enabled.
+
+ // The first thing to do is configure the input pins.
+
+ robostix_configure_pin( ROBOSTIX_GPIO_ATM_MISO, RoboStixGpioIn );
+
+ // TODO: Set ATM_IRQ line to generate an interrupt
+
+// printk( "IRQ\n" );
+// robostix_configure_pin( ROBOSTIX_GPIO_ATM_IRQ, RoboStixGpioIn );
+
+ // Configure the output pins. We set the GPIO value register before
+ // setting configuring it as a GPIO so that we don't create a glitch.
+
+ SET_GPIO( ROBOSTIX_GPIO_VCC5_ENABLE, 1 ); // Voltage regulator on (active high)
+ robostix_configure_pin( ROBOSTIX_GPIO_VCC5_ENABLE, RoboStixGpioOut );
+
+ SET_GPIO( ROBOSTIX_GPIO_ATM_RESET, 0 ); // AVR held in Reset (active low)
+ robostix_configure_pin( ROBOSTIX_GPIO_ATM_RESET, RoboStixGpioOut );
+
+ // The values of these pins don't really matter.
+
+ robostix_configure_pin( ROBOSTIX_GPIO_ATM_SCK, RoboStixGpioOut );
+ robostix_configure_pin( ROBOSTIX_GPIO_ATM_SS, RoboStixGpioOut );
+ robostix_configure_pin( ROBOSTIX_GPIO_ATM_MOSI, RoboStixGpioOut );
+
+ // Finally enable the '245
+
+ SET_GPIO( ROBOSTIX_GPIO_245_ENABLE, 0 ); // '245 enabled (active low)
+ robostix_configure_pin( ROBOSTIX_GPIO_245_ENABLE, RoboStixGpioOut );
+
+ // Don't change the configuration of the IR TxD/RxD here. Instead we
+ // save/restore using the PPCLAIM/PPRELEASE which brackets when avrdude
+ // is doing the actual programming.
+
+ // TODO: Probably configure IR TxD as UART
+
+ // Register our device. The device becomes "active" as soon as cdev_add
+ // is called.
+
+ cdev_init( &gRobostixCDev, &robostix_fops );
+ gRobostixCDev.owner = THIS_MODULE;
+
+ if (( rc = cdev_add( &gRobostixCDev, gRobostixDevNum, 1 )) != 0 )
+ {
+ printk( KERN_WARNING "robostix: cdev_add failed: %d\n", rc );
+ return rc;
+ }
+
+ gRobostixClass = class_create( THIS_MODULE, ROBOSTIX_DEV_NAME );
+ if ( IS_ERR( gRobostixClass ))
+ {
+ printk( KERN_WARNING "robostix: Unable to create class\n" );
+ return -1;
+ }
+
+ class_device_create( gRobostixClass, NULL, gRobostixDevNum, NULL, ROBOSTIX_DEV_NAME );
+
+ return 0;
+
+} // robostix_init
+
+/****************************************************************************
+*
+* robostix_ioctl
+*
+* Called to process ioctl requests
+*
+*****************************************************************************/
+
+int robostix_ioctl( struct inode *inode, struct file *file, unsigned int cmd, unsigned long arg )
+{
+ int err;
+ int userVal;
+
+ ROBO_DEBUG( Trace, "type: '%c' cmd: 0x%x\n", _IOC_TYPE( cmd ), _IOC_NR( cmd ));
+
+ if (( _IOC_TYPE( cmd ) != ROBOSTIX_IOCTL_MAGIC )
+ || ( _IOC_NR( cmd ) < ROBOSTIX_CMD_FIRST )
+ || ( _IOC_NR( cmd ) >= ROBOSTIX_CMD_LAST ))
+ {
+ // Since we emulate some of the parallel port commands, we need to allow
+ // those as well.
+
+ if (( _IOC_TYPE( cmd ) != PP_IOCTL )
+ || ( _IOC_NR( cmd ) < 0x80 )
+ || ( _IOC_NR( cmd ) >= 0x9b ))
+ {
+ return -ENOTTY;
+ }
+ }
+
+ // Note that _IOC_DIR Read/Write is from the perspective of userland. access_ok
+ // is from the perspective of kernelland.
+
+ err = 0;
+ if (( _IOC_DIR( cmd ) & _IOC_READ ) != 0 )
+ {
+ err |= !access_ok( VERIFY_WRITE, (void *)arg, _IOC_SIZE( cmd ));
+ }
+ if (( _IOC_DIR( cmd ) & _IOC_WRITE ) != 0 )
+ {
+ err |= !access_ok( VERIFY_READ, (void *)arg, _IOC_SIZE( cmd ));
+ }
+ if ( err )
+ {
+ ROBO_DEBUG( Error, "arg pointer is invalid\n" );
+ return -EFAULT;
+ }
+
+ switch ( cmd )
+ {
+ case ROBOSTIX_IOCTL_POWER_VCC5:
+ {
+ ROBO_DEBUG( Ioctl, "Power: %ld\n", arg );
+
+#if 1
+ // Until I figure something else out, the only way I can get the
+ // power to really go off is to also turn off the '245. This means
+ // that we'll lose the console, so you better be turning things
+ // back on real soon now
+
+ SET_GPIO( ROBOSTIX_GPIO_245_ENABLE, !arg ); // '245 is active low
+
+ // Also - I noticed that the Console connector on the Robostix has
+ // Vcc5 going to it, which means that if a TTL <=> RS232 converter
+ // is being powered off the robostix, we'll lose our console as
+ // soon as the voltage regulator (which generates Vcc5) gets
+ // turned off.
+
+#else
+ // In order to truly power off the robostix, we need to turn off
+ // the voltage regulator. We assume that the '245 stays on so we
+ // continue to get our console. This also means that we need to
+ // take all of the GPIO lines low to eliminate any leak-thru
+ // current.
+
+ if ( arg )
+ {
+ // Powering on - Configure I/O pins in "typical" manner.
+
+ // TODO: Probably set MOSI/SCK/SS back to NSSP
+ // TODO: Probably set IR TxD back to UART
+ }
+ else
+ {
+ // Powering off. Make them all GPIO's so that we can force
+ // them low.
+
+ SET_GPIO( ROBOSTIX_GPIO_ATM_RESET, 0 );
+ SET_GPIO( ROBOSTIX_GPIO_ATM_MOSI, 0 );
+ SET_GPIO( ROBOSTIX_GPIO_ATM_SCK, 0 );
+ SET_GPIO( ROBOSTIX_GPIO_ATM_SS, 0 );
+ SET_GPIO( ROBOSTIX_GPIO_IR_TXD_5V, 0 );
+
+ robostix_configure_pin( ROBOSTIX_GPIO_ATM_RESET, RoboStixGpioOut );
+ robostix_configure_pin( ROBOSTIX_GPIO_ATM_MOSI, RoboStixGpioOut );
+ robostix_configure_pin( ROBOSTIX_GPIO_ATM_SCK, RoboStixGpioOut );
+ robostix_configure_pin( ROBOSTIX_GPIO_ATM_SS, RoboStixGpioOut );
+ robostix_configure_pin( ROBOSTIX_GPIO_IR_TXD_5V, RoboStixGpioOut );
+
+ // Grr - ATM_SCL and ATM_SDA are both pulled up to V_BATT,
+ // so we probably need to make these go low too, which effectively
+ // means that we lose the i2c bus.
+ }
+#endif
+
+ SET_GPIO( ROBOSTIX_GPIO_VCC5_ENABLE, arg ); // Voltage regulator is active high
+ break;
+ }
+
+ case ROBOSTIX_IOCTL_RESET:
+ {
+ if ( arg == ROBOSTIX_PIN_PULSE )
+ {
+ // The ATMega128 datasheet says that the reset pulse needs
+ // to have a minimum pulse width of 1.5 usec.
+
+ ROBO_DEBUG( Ioctl, "Reset: %ld (pulse)\n", arg );
+
+ SET_GPIO( ROBOSTIX_GPIO_ATM_RESET, 0 ); // Reset is active low
+ udelay( 3 );
+ SET_GPIO( ROBOSTIX_GPIO_ATM_RESET, 1 );
+ }
+ else
+ {
+ // Reset is active low, so "on" means low
+
+ ROBO_DEBUG( Ioctl, "Reset: %ld\n", arg );
+
+ SET_GPIO( ROBOSTIX_GPIO_ATM_RESET, !arg );
+ }
+ break;
+ }
+
+ case ROBOSTIX_IOCTL_245_ENABLE:
+ {
+ // The 245 is active low, so we invert the sense of on/off
+
+ ROBO_DEBUG( Ioctl, "245 Enable: %ld\n", arg );
+
+ if ( arg != 0 )
+ {
+ printk( KERN_WARNING "Robostix: Warning turning '245 off - console may become inactive\n" );
+
+ // Allow some time for the above warning to get printed on the
+ // console before we turn it off.
+
+ set_current_state( TASK_INTERRUPTIBLE );
+ schedule_timeout( 2 );
+ }
+
+ SET_GPIO( ROBOSTIX_GPIO_245_ENABLE, !arg );
+ break;
+ }
+
+ case ROBOSTIX_IOCTL_SET_SCK: // out
+ {
+ ROBO_DEBUG( Ioctl, "Set SCK: %ld\n", arg );
+
+ SET_GPIO( ROBOSTIX_GPIO_ATM_SCK, arg );
+ break;
+ }
+
+ case ROBOSTIX_IOCTL_SET_SS: // out
+ {
+ ROBO_DEBUG( Ioctl, "Set SS: %ld\n", arg );
+
+ SET_GPIO( ROBOSTIX_GPIO_ATM_SS, arg );
+ break;
+ }
+
+ case ROBOSTIX_IOCTL_SET_IR_TXD: // out
+ {
+ // This particular ioctl should only ever be called as part of
+ // somebody testing something. We assume that they'll be smart
+ // enough to reconfigure when they're done.
+
+ ROBO_DEBUG( Ioctl, "Set IR TxD: %ld\n", arg );
+
+ robostix_configure_pin( ROBOSTIX_GPIO_IR_TXD_5V, RoboStixGpioOut );
+
+ SET_GPIO( ROBOSTIX_GPIO_IR_TXD_5V, arg );
+ break;
+ }
+
+ case ROBOSTIX_IOCTL_GET_IR_RXD: // in
+ {
+ // This particular ioctl should only ever be called as part of
+ // somebody testing something. We assume that they'll be smart
+ // enough to reconfigure when they're done.
+
+ robostix_configure_pin( ROBOSTIX_GPIO_IR_RXD_5V, RoboStixGpioIn );
+
+ userVal = GET_GPIO( ROBOSTIX_GPIO_IR_RXD_5V );
+ if ( copy_to_user( (int *)arg, &userVal, sizeof( userVal )) != 0 )
+ {
+ return -EFAULT;
+ }
+
+ ROBO_DEBUG( Ioctl, "Get IR RxD: %d\n", userVal );
+ break;
+ }
+
+ case ROBOSTIX_IOCTL_SET_MOSI: // out
+ {
+ ROBO_DEBUG( Ioctl, "Set MOSI: %ld\n", arg );
+
+ SET_GPIO( ROBOSTIX_GPIO_ATM_MOSI, arg );
+ break;
+ }
+
+ case ROBOSTIX_IOCTL_GET_MISO: // in
+ {
+ userVal = GET_GPIO( ROBOSTIX_GPIO_ATM_MISO );
+ if ( copy_to_user( (int *)arg, &userVal, sizeof( userVal )) != 0 )
+ {
+ return -EFAULT;
+ }
+ ROBO_DEBUG( Ioctl, "Get MISO: %d\n", userVal );
+ break;
+ }
+
+ case ROBOSTIX_IOCTL_GET_IRQ: // in
+ {
+ userVal = GET_GPIO( ROBOSTIX_GPIO_ATM_IRQ );
+ if ( copy_to_user( (int *)arg, &userVal, sizeof( userVal )) != 0 )
+ {
+ return -EFAULT;
+ }
+ ROBO_DEBUG( Ioctl, "Get IRQ: %d\n", userVal );
+ break;
+ }
+
+ case ROBOSTIX_IOCTL_DELAY_USEC:
+ {
+ ROBO_DEBUG( Ioctl, "Delay: %ld usecs\n", arg );
+
+ udelay( arg );
+ break;
+ }
+
+ //-------------------------------------------------------------------
+ //
+ // Parallel port interface. Some documentation on these ioctls can
+ // be found here:
+ // http://www.kernelnewbies.org/documents/kdoc/parportbook/x623.html
+ //
+
+ case PPRSTATUS: // Read status register
+ {
+ unsigned char statusReg = 0;
+ int miso;
+
+ // The only thing mapped into the status register, is MISO.
+
+ miso = GET_GPIO( ROBOSTIX_GPIO_ATM_PGM_MISO );
+
+
+ if ( miso )
+ {
+ statusReg |= PPI_STATUS_MISO_MASK;
+ }
+
+ ROBO_DEBUG( Ioctl, "PPRSTATUS: 0x%02x miso:%d\n", statusReg, miso );
+
+ if ( copy_to_user( (unsigned char *)arg, &statusReg, sizeof( statusReg )) != 0 )
+ {
+ return -EFAULT;
+ }
+ break;
+ }
+
+ case PPRCONTROL: // Read control register
+ {
+ // Called once to initialize avrdude's shadow registers
+
+ unsigned char controlReg = 0;
+
+ ROBO_DEBUG( Ioctl, "PPRCONTROL: 0x%02x\n", controlReg );
+
+ if ( copy_to_user( (unsigned char *)arg, &controlReg, sizeof( controlReg )) != 0 )
+ {
+ return -EFAULT;
+ }
+ break;
+ }
+
+ case PPWCONTROL: // Write control register
+ {
+ unsigned char controlReg = 0;
+
+ if ( copy_from_user( &controlReg, (unsigned char *)arg, sizeof( controlReg )) != 0 )
+ {
+ return -EFAULT;
+ }
+
+ ROBO_DEBUG( Ioctl, "PPWCONTROL: 0x%02x\n", controlReg );
+ break;
+ }
+
+ case PPRDATA: // Read data register
+ {
+ // Called once to initialize avrdude's shadow registers
+
+ unsigned char dataReg = 0;
+ int power, sck, reset, mosi;
+
+ power = GET_GPIO( ROBOSTIX_GPIO_VCC5_ENABLE );
+ sck = GET_GPIO( ROBOSTIX_GPIO_ATM_SCK );
+ reset = GET_GPIO( ROBOSTIX_GPIO_ATM_RESET );
+ mosi = GET_GPIO( ROBOSTIX_GPIO_ATM_PGM_MOSI );
+
+ if ( power )
+ {
+ dataReg |= PPI_DATA_VCC_MASK;
+ }
+ if ( reset )
+ {
+ dataReg |= PPI_DATA_RESET_MASK;
+ }
+ if ( sck )
+ {
+ dataReg |= PPI_DATA_SCK_MASK;
+ }
+ if ( mosi )
+ {
+ dataReg |= PPI_DATA_MOSI_MASK;
+ }
+
+ ROBO_DEBUG( Ioctl, "PPRDATA: 0x%02x pow:%d reset:%d sck:%d mosi: %d\n", dataReg, power, reset, sck, mosi );
+
+ if ( copy_to_user( (unsigned char *)arg, &dataReg, sizeof( dataReg )) != 0 )
+ {
+ return -EFAULT;
+ }
+ break;
+ }
+
+ case PPWDATA: // Write data register
+ {
+ unsigned char dataReg = 0;
+ int power, sck, reset, mosi;
+
+ if ( copy_from_user( &dataReg, (unsigned char *)arg, sizeof( dataReg )) != 0 )
+ {
+ return -EFAULT;
+ }
+
+ power = ( dataReg & PPI_DATA_VCC_MASK ) != 0;
+ sck = ( dataReg & PPI_DATA_SCK_MASK ) != 0;
+ reset = ( dataReg & PPI_DATA_RESET_MASK ) != 0;
+ mosi = ( dataReg & PPI_DATA_MOSI_MASK ) != 0;
+
+ ROBO_DEBUG( Ioctl, "PPWDATA: 0x%02x pow:%d reset:%d sck:%d mosi: %d\n", dataReg, power, reset, sck, mosi );
+
+ SET_GPIO( ROBOSTIX_GPIO_VCC5_ENABLE, power );
+ SET_GPIO( ROBOSTIX_GPIO_245_ENABLE, !power ); // 245 is active low
+
+ SET_GPIO( ROBOSTIX_GPIO_ATM_SCK, sck );
+ SET_GPIO( ROBOSTIX_GPIO_ATM_RESET, reset );
+ SET_GPIO( ROBOSTIX_GPIO_ATM_PGM_MOSI, mosi );
+ break;
+ }
+
+ case PPCLAIM: // Claim the parallel port
+ {
+ ROBO_DEBUG( Ioctl, "PPCLAIM\n" );
+
+ // We use this opportunity to save away the state of the IR Txd/Rxd lines
+ // and convert them to GPIO.
+
+ robostix_get_pin_config( ROBOSTIX_GPIO_IR_TXD_5V, &gIrTxdConfig );
+ robostix_get_pin_config( ROBOSTIX_GPIO_IR_RXD_5V, &gIrRxdConfig );
+
+ robostix_configure_pin( ROBOSTIX_GPIO_IR_TXD_5V, RoboStixGpioOut );
+ robostix_configure_pin( ROBOSTIX_GPIO_IR_RXD_5V, RoboStixGpioIn );
+ break;
+ }
+
+ case PPRELEASE: // Release the parallel port
+ {
+ ROBO_DEBUG( Ioctl, "PPRELEASE\n" );
+
+ // We use this opportunity to restore the state of the IR Txd/Rxd lines
+ // back to what they were.
+
+ robostix_set_pin_config( ROBOSTIX_GPIO_IR_TXD_5V, &gIrTxdConfig );
+ robostix_set_pin_config( ROBOSTIX_GPIO_IR_RXD_5V, &gIrRxdConfig );
+ break;
+ }
+
+ case PPDATADIR:
+ {
+ int dataDirReg;
+
+ if ( copy_from_user( &dataDirReg, (int *)arg, sizeof( dataDirReg )) != 0 )
+ {
+ return -EFAULT;
+ }
+
+ ROBO_DEBUG( Ioctl, "PPDATADIR: 0x%02x\n", dataDirReg );
+ break;
+ }
+
+ default:
+ {
+ ROBO_DEBUG( Error, "Unrecognized ioctl: '0x%x'\n", cmd );
+ return -ENOTTY;
+ }
+ }
+
+ return 0;
+
+} // robostix_ioctl
+
+/****************************************************************************
+*
+* robostix_open
+*
+* Called to process open requests
+*
+*****************************************************************************/
+
+int robostix_open( struct inode *inode, struct file *file )
+{
+ ROBO_DEBUG( Trace, "major = %d, minor = %d\n", MAJOR( inode->i_rdev ), MINOR( inode->i_rdev ));
+
+ return 0;
+
+} // robostix_open
+
+/****************************************************************************
+*
+* robostix_release
+*
+* Called when the last istance is closed.
+*
+*****************************************************************************/
+
+int robostix_release( struct inode *inode, struct file *file )
+{
+ ROBO_DEBUG( Trace, "called\n" );
+
+ return 0;
+
+} // robostix_release
+
+/****************************************************************************/
+
+module_init(robostix_init);
+module_exit(robostix_exit);
+
+MODULE_AUTHOR("Dave Hylands");
+MODULE_DESCRIPTION("gumstix/robostix driver");
+MODULE_LICENSE("Dual BSD/GPL");
+
diff --git a/recipes/robostix-module/files/robostix.h b/recipes/robostix-module/files/robostix.h
new file mode 100644
index 0000000000..0d860bc7a4
--- /dev/null
+++ b/recipes/robostix-module/files/robostix.h
@@ -0,0 +1,114 @@
+/****************************************************************************
+*
+* Copyright (c) 2006 Dave Hylands <dhylands@gmail.com>
+*
+* This program is free software; you can redistribute it and/or modify
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
+*
+* Alternatively, this software may be distributed under the terms of BSD
+* license.
+*
+* See README and COPYING for more details.
+*
+****************************************************************************/
+/**
+*
+* robostix_drv.h
+*
+* PURPOSE:
+*
+* This implements a driver for using the robostix from the gumstix
+*
+* Initially, this contains the required support to emulate enough of the
+* parallel port interface to allow avrdude to program the ATMega128.
+*
+*****************************************************************************/
+
+#if !defined( LINUX_ROBOSTIX_H )
+#define LINUX_ROBOSTIX_H )
+
+/* ---- Include Files ----------------------------------------------------- */
+
+#include <linux/ioctl.h>
+
+/* ---- Constants and Types ----------------------------------------------- */
+
+#define ROBOSTIX_MAJOR 240
+
+#define ROBOSTIX_IOCTL_MAGIC 'R'
+
+/**
+ * Deefines for each of the commands. Note that since we want to reduce
+ * the possibility that a user mode program gets out of sync with a given
+ * driver, we explicitly assign a value to each enumeration. This makes
+ * it more difficult to stick new ioctl's in the middle of the list.
+ */
+
+typedef enum
+{
+ ROBOSTIX_CMD_FIRST = 0x80,
+
+ ROBOSTIX_CMD_POWER_VCC5 = 0x80,
+ ROBOSTIX_CMD_RESET = 0x81,
+ ROBOSTIX_CMD_245_ENABLE = 0x82,
+ ROBOSTIX_CMD_SET_SCK = 0x83,
+ ROBOSTIX_CMD_SET_SS = 0x84,
+ ROBOSTIX_CMD_SET_IR_TXD = 0x85,
+ ROBOSTIX_CMD_GET_IR_RXD = 0x86,
+ ROBOSTIX_CMD_SET_MOSI = 0x87,
+ ROBOSTIX_CMD_GET_MISO = 0x88,
+ ROBOSTIX_CMD_GET_IRQ = 0x89,
+ ROBOSTIX_CMD_DELAY_USEC = 0x8A, // value is hardocded in uisp DAPA.C
+
+ /* Insert new ioctls here */
+
+ ROBOSTIX_CMD_LAST,
+
+} ROBOSTIX_CMD;
+
+/*
+ * The following are arguments to the various ioctl's
+ */
+
+#define ROBOSTIX_PIN_OFF 0
+#define ROBOSTIX_PIN_ON 1
+#define ROBOSTIX_PIN_PULSE 2 // only used or Reset
+
+/*
+ * Definitions for the actual ioctl commands
+ */
+
+#define ROBOSTIX_IOCTL_POWER_VCC5 _IO( ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_POWER_VCC5 ) // arg is int
+#define ROBOSTIX_IOCTL_RESET _IO( ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_RESET ) // arg is int
+#define ROBOSTIX_IOCTL_245_ENABLE _IO( ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_245_ENABLE ) // arg is int
+#define ROBOSTIX_IOCTL_SET_SCK _IO( ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_SET_SCK ) // arg is int
+#define ROBOSTIX_IOCTL_SET_SS _IO( ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_SET_SS ) // arg is int
+#define ROBOSTIX_IOCTL_SET_IR_TXD _IO( ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_SET_IR_TXD ) // arg is int
+#define ROBOSTIX_IOCTL_GET_IR_RXD _IOR( ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_GET_IR_RXD, int ) // arg is int *
+#define ROBOSTIX_IOCTL_SET_MOSI _IO( ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_SET_MOSI ) // arg is int
+#define ROBOSTIX_IOCTL_GET_MISO _IOR( ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_GET_MISO, int ) // arg is int *
+#define ROBOSTIX_IOCTL_GET_IRQ _IOR( ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_GET_IRQ, int ) // arg is int *
+#define ROBOSTIX_IOCTL_DELAY_USEC _IO( ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_DELAY_USEC ) // arg is int
+
+
+/*
+ * Definitions for sysctl. The top level define has to be unique system wide.
+ * The kernel defines values 1 thru about 10 (see include/linunx/sysctl.h)
+ */
+
+#define CTL_ROBOSTIX 0x526F626F /* 'Robo' in hex form */
+
+/*
+ * The following are for entries in /proc/sys/robostix
+ */
+
+enum
+{
+ CTL_ROBOSTIX_DEBUG_TRACE = 101,
+ CTL_ROBOSTIX_DEBUG_IOCTL = 102,
+ CTL_ROBOSTIX_DEBUG_ERROR = 103
+};
+
+#endif // LINUX_ROBOSTIX_H
+
diff --git a/recipes/robostix-module/files/robostix.init b/recipes/robostix-module/files/robostix.init
new file mode 100755
index 0000000000..9bbd1d9e7c
--- /dev/null
+++ b/recipes/robostix-module/files/robostix.init
@@ -0,0 +1,53 @@
+#!/bin/sh
+#
+# Start the robostix
+#
+
+start() {
+ echo "Starting robostix..."
+
+ # Make sure ttyS2 is setup
+ echo "AF2 in" > /proc/gpio/GPIO46
+ echo "AF1 out" > /proc/gpio/GPIO47
+
+ # Turn on the robostix '245
+ echo "GPIO out clear" > /proc/gpio/GPIO72
+
+ # Turn on the robostix Power
+ echo "GPIO out set" > /proc/gpio/GPIO70
+
+ # load driver
+ /sbin/modprobe robostix
+
+ # Take the robostix out of reset
+ echo "GPIO out set" > /proc/gpio/GPIO73
+
+}
+stop() {
+ echo "Stopping robostix..."
+
+ # Put the robostix into reset
+ echo "GPIO out clear" > /proc/gpio/GPIO73
+}
+restart() {
+ stop
+ start
+}
+
+case "$1" in
+ start)
+ start
+ ;;
+ stop)
+ stop
+ ;;
+ restart)
+ restart
+ ;;
+ *)
+ echo $"Usage: $0 {start|stop|restart}"
+ exit 1
+esac
+
+exit $?
+
diff --git a/recipes/robostix-module/robostix-module.bb b/recipes/robostix-module/robostix-module.bb
new file mode 100644
index 0000000000..7f95adf341
--- /dev/null
+++ b/recipes/robostix-module/robostix-module.bb
@@ -0,0 +1,36 @@
+DESCRIPTION = "Linux Driver for Gumstix robostix daughtercards"
+SECTION = "base"
+PRIORITY = "optional"
+LICENSE = "GPL"
+RDEPENDS = "kernel (${KERNEL_VERSION})"
+DEPENDS = "virtual/kernel"
+
+PR = "r1"
+
+INITSCRIPT_NAME = "robostix"
+INITSCRIPT_PARAMS = "defaults 10"
+
+SRC_URI = "\
+ file://Makefile \
+ file://robostix.h \
+ file://robostix.c \
+ file://robostix.init \
+ "
+
+S = "${WORKDIR}"
+
+inherit module update-rc.d
+
+do_install() {
+ install -d ${D}${base_libdir}/modules/${KERNEL_VERSION}/extra/
+ install -m 0644 ${WORKDIR}/robostix.ko ${D}${base_libdir}/modules/${KERNEL_VERSION}/extra/
+
+ install -d ${D}${sysconfdir}/init.d/
+ install -m 0755 ${WORKDIR}/robostix.init ${D}${sysconfdir}/init.d/robostix
+}
+
+PACKAGES = "${PN}"
+
+FILES_${PN} = "${base_libdir}/modules/"
+FILES_${PN} += "${sysconfdir}/"
+