Module: xenomai-2.5
Branch: master
Commit: 9e11acb0f699b598e81613064222a5a777f88782
URL:
http://git.xenomai.org/?p=xenomai-2.5.git;a=commit;h=9e11acb0f699b598e81613064222a5a777f88782
Author: Alexis Berlemont <alexis.berlem...@gmail.com>
Date: Tue Jan 19 01:02:27 2010 +0100
analogy: clean the fake driver and add a DIO subdevice
---
ksrc/drivers/analogy/testing/fake.c | 233 +++++++++++++++++++++--------------
1 files changed, 138 insertions(+), 95 deletions(-)
diff --git a/ksrc/drivers/analogy/testing/fake.c
b/ksrc/drivers/analogy/testing/fake.c
index 090f109..ed03763 100644
--- a/ksrc/drivers/analogy/testing/fake.c
+++ b/ksrc/drivers/analogy/testing/fake.c
@@ -1,15 +1,20 @@
#include <linux/module.h>
#include <analogy/analogy_driver.h>
-#define TEST_TASK_PERIOD 1000000
-#define TEST_NB_BITS 16
+#define AI_TASK_PERIOD 1000000
-#define TEST_INPUT_SUBD 0
+#define AI_SUBD 0
+#define DIO_SUBD 1
/* --- Driver related structures --- */
-/* Device private structure */
-struct test_priv {
+struct fake_priv {
+ /* Configuration parameters */
+ unsigned long amplitude_div;
+ unsigned long quanta_cnt;
+};
+
+struct ai_priv {
/* Task descriptor */
a4l_task_t timer_task;
@@ -27,28 +32,33 @@ struct test_priv {
volatile int timer_running;
};
-typedef struct test_priv tstprv_t;
-/* Attach options structure */
-struct test_attach_arg {
- unsigned long amplitude_div;
- unsigned long quanta_cnt;
+struct dio_priv {
+ /* Bits status */
+ uint16_t bits_values;
};
-typedef struct test_attach_arg tstattr_t;
/* --- Channels / ranges part --- */
/* Channels descriptor */
-static a4l_chdesc_t test_chandesc = {
+static a4l_chdesc_t ai_chandesc = {
.mode = A4L_CHAN_GLOBAL_CHANDESC,
.length = 8,
.chans = {
- {A4L_CHAN_AREF_GROUND, TEST_NB_BITS},
+ {A4L_CHAN_AREF_GROUND, 16},
+ },
+};
+
+static a4l_chdesc_t dio_chandesc = {
+ .mode = A4L_CHAN_GLOBAL_CHANDESC,
+ .length = 16,
+ .chans = {
+ {A4L_CHAN_AREF_GROUND, 1},
},
};
/* Ranges tab */
-static a4l_rngtab_t test_rngtab = {
+static a4l_rngtab_t ai_rngtab = {
.length = 2,
.rngs = {
RANGE_V(-5,5),
@@ -56,7 +66,7 @@ static a4l_rngtab_t test_rngtab = {
},
};
/* Ranges descriptor */
-a4l_rngdesc_t test_rngdesc = RNG_GLOBAL(test_rngtab);
+static a4l_rngdesc_t ai_rngdesc = RNG_GLOBAL(ai_rngtab);
/* Command options mask */
static a4l_cmd_t test_cmd_mask = {
@@ -70,18 +80,18 @@ static a4l_cmd_t test_cmd_mask = {
/* --- Analog input simulation --- */
-static uint16_t output_tab[8] = {
- 0x0001, 0x2000, 0x4000, 0x6000,
- 0x8000, 0xa000, 0xc000, 0xffff
-};
-static unsigned int output_idx;
-static a4l_lock_t output_lock = A4L_LOCK_UNLOCKED;
-
-static uint16_t test_output(tstprv_t *priv)
+static uint16_t ai_value_output(struct ai_priv *priv)
{
+ static uint16_t output_tab[8] = {
+ 0x0001, 0x2000, 0x4000, 0x6000,
+ 0x8000, 0xa000, 0xc000, 0xffff
+ };
+ static unsigned int output_idx;
+ static a4l_lock_t output_lock = A4L_LOCK_UNLOCKED;
+
unsigned long flags;
unsigned int idx;
-
+
a4l_lock_irqsave(&output_lock, flags);
output_idx += priv->quanta_cnt;
@@ -97,16 +107,15 @@ static uint16_t test_output(tstprv_t *priv)
/* --- Task part --- */
/* Timer task routine */
-static void test_task_proc(void *arg)
+static void ai_task_proc(void *arg)
{
- a4l_dev_t *dev = (a4l_dev_t*)arg;
- a4l_subd_t *subd = a4l_get_subd(dev, TEST_INPUT_SUBD);
- tstprv_t *priv = (tstprv_t *)dev->priv;
+ a4l_subd_t *subd = (a4l_subd_t *)arg;
+ struct ai_priv *priv = (struct ai_priv *)subd->priv;
a4l_cmd_t *cmd = NULL;
uint64_t now_ns, elapsed_ns=0;
- while(!a4l_check_dev(dev))
- a4l_task_sleep(TEST_TASK_PERIOD);
+ while(!a4l_check_dev(subd->dev))
+ a4l_task_sleep(AI_TASK_PERIOD);
while(1) {
if(priv->timer_running != 0)
@@ -125,8 +134,7 @@ static void test_task_proc(void *arg)
for(j = 0; j < cmd->nb_chan; j++)
{
- uint16_t value = test_output(priv);
-
+ uint16_t value = ai_value_output(priv);
a4l_buf_put(subd, &value,
sizeof(uint16_t));
}
@@ -142,28 +150,23 @@ static void test_task_proc(void *arg)
a4l_buf_evt(subd, 0);
}
- a4l_task_sleep(TEST_TASK_PERIOD);
-
+ a4l_task_sleep(AI_TASK_PERIOD);
}
}
-/* --- Analogy Callbacks --- */
+/* --- Asynchronous AI functions --- */
-/* Command callback */
-int test_cmd(a4l_subd_t *subd, a4l_cmd_t *cmd)
+static int ai_cmd(a4l_subd_t *subd, a4l_cmd_t *cmd)
{
- a4l_dev_t *dev = subd->dev;
- tstprv_t *priv = (tstprv_t *)dev->priv;
-
- a4l_info(dev, "test_cmd: begin (subd=%d)\n", subd->idx);
+ struct ai_priv *priv = (struct ai_priv *)subd->priv;
- priv->scan_period_ns=cmd->scan_begin_arg;
- priv->convert_period_ns=(cmd->convert_src==TRIG_TIMER)?
+ priv->scan_period_ns = cmd->scan_begin_arg;
+ priv->convert_period_ns = (cmd->convert_src==TRIG_TIMER)?
cmd->convert_arg:0;
- a4l_info(dev,
- "test_cmd: scan_period=%luns convert_period=%luns\n",
- priv->scan_period_ns, priv->convert_period_ns);
+ a4l_dbg(1, drv_dbg, subd->dev,
+ "ai_cmd: scan_period=%luns convert_period=%luns\n",
+ priv->scan_period_ns, priv->convert_period_ns);
priv->last_ns = a4l_get_time();
@@ -176,8 +179,7 @@ int test_cmd(a4l_subd_t *subd, a4l_cmd_t *cmd)
}
-/* Test command callback */
-int test_cmdtest(a4l_subd_t *subd, a4l_cmd_t *cmd)
+static int ai_cmdtest(a4l_subd_t *subd, a4l_cmd_t *cmd)
{
if(cmd->scan_begin_src == TRIG_TIMER)
{
@@ -192,111 +194,152 @@ int test_cmdtest(a4l_subd_t *subd, a4l_cmd_t *cmd)
return 0;
}
-/* Cancel callback */
-int test_cancel(a4l_subd_t *subd)
+static int ai_cancel(a4l_subd_t *subd)
{
- tstprv_t *priv = (tstprv_t *)subd->dev->priv;
+ struct ai_priv *priv = (struct ai_priv *)subd->priv;
priv->timer_running = 0;
return 0;
}
-/* Read instruction callback */
-int test_ai_insn_read(a4l_subd_t *subd, a4l_kinsn_t *insn)
+static void ai_munge(a4l_subd_t *subd, void *buf, unsigned long size)
+{
+ int i;
+
+ for(i = 0; i < size / sizeof(uint16_t); i++)
+ ((uint16_t *)buf)[i] += 1;
+}
+
+/* --- Synchronous AI functions --- */
+
+static int ai_insn_read(a4l_subd_t *subd, a4l_kinsn_t *insn)
{
- tstprv_t *priv = (tstprv_t *)subd->dev->priv;
+ struct ai_priv *priv = (struct ai_priv *)subd->priv;
uint16_t *data = (uint16_t *)insn->data;
int i;
for(i = 0; i < insn->data_size / sizeof(uint16_t); i++)
- data[i] = test_output(priv);
+ data[i] = ai_value_output(priv);
return 0;
}
-/* Munge callback */
-void test_ai_munge(a4l_subd_t *subd, void *buf, unsigned long size)
+/* --- Synchronous DIO function --- */
+
+static int dio_insn_bits(a4l_subd_t *subd, a4l_kinsn_t *insn)
{
- int i;
+ struct dio_priv *priv = (struct dio_priv *)subd->priv;
+ uint16_t *data = (uint16_t *)insn->data;
+
+ if (insn->data_size != 2 * sizeof(uint16_t))
+ return -EINVAL;
+
+ if (data[0] != 0) {
+ priv->bits_values &= ~(data[0]);
+ priv->bits_values |= (data[0] & data[1]);
+ }
- for(i = 0; i < size / sizeof(uint16_t); i++)
- ((uint16_t *)buf)[i] += 1;
+ data[1] = priv->bits_values;
+
+ return 0;
}
-void setup_test_subd(a4l_subd_t *subd)
+/* --- Initialization functions --- */
+
+void setup_ai_subd(a4l_subd_t *subd)
{
- /* Initialize the subdevice structure */
- memset(subd, 0, sizeof(a4l_subd_t));
-
/* Fill the subdevice structure */
subd->flags |= A4L_SUBD_AI;
subd->flags |= A4L_SUBD_CMD;
subd->flags |= A4L_SUBD_MMAP;
- subd->rng_desc = &test_rngdesc;
- subd->chan_desc = &test_chandesc;
- subd->do_cmd = test_cmd;
- subd->do_cmdtest = test_cmdtest;
- subd->cancel = test_cancel;
- subd->munge = test_ai_munge;
+ subd->rng_desc = &ai_rngdesc;
+ subd->chan_desc = &ai_chandesc;
+ subd->do_cmd = ai_cmd;
+ subd->do_cmdtest = ai_cmdtest;
+ subd->cancel = ai_cancel;
+ subd->munge = ai_munge;
subd->cmd_mask = &test_cmd_mask;
- subd->insn_read = test_ai_insn_read;
+ subd->insn_read = ai_insn_read;
+}
+
+void setup_dio_subd(a4l_subd_t *subd)
+{
+ /* Fill the subdevice structure */
+ subd->flags |= A4L_SUBD_DIO;
+ subd->chan_desc = &dio_chandesc;
+ subd->rng_desc = &range_digital;
+ subd->insn_bits = dio_insn_bits;
}
-/* Attach callback */
+/* --- Attach / detach functions --- */
+
int test_attach(a4l_dev_t *dev, a4l_lnkdesc_t *arg)
{
int ret = 0;
a4l_subd_t *subd;
- tstprv_t *priv = (tstprv_t *)dev->priv;
+ struct fake_priv *priv = (struct fake_priv *)dev->priv;
+ struct ai_priv * ai_priv;
a4l_dbg(1, drv_dbg, dev, "starting attach procedure...\n");
- if(arg->opts!=NULL) {
- tstattr_t *attr = (tstattr_t*) arg->opts;
-
- priv->amplitude_div = attr->amplitude_div;
- priv->quanta_cnt =
- (attr->quanta_cnt > 7 || attr->quanta_cnt == 0) ?
- 1 : attr->quanta_cnt;
- }
- else {
+ if (arg->opts_size < sizeof(unsigned long)) {
priv->amplitude_div = 1;
priv->quanta_cnt = 1;
- }
+ } else {
+ unsigned long *args = (unsigned long *)arg->opts;
+ priv->amplitude_div = args[0];
+ if (arg->opts_size == 2 * sizeof(unsigned long))
+ priv->quanta_cnt = (args[1] > 7 || args[1] == 0) ?
+ 1 : args[1];
+ }
+
a4l_dbg(1, drv_dbg, dev,
"amplitude divisor = %lu...\n", priv->amplitude_div);
a4l_dbg(1, drv_dbg, dev,
"quanta count = %lu...\n", priv->quanta_cnt);
- /* Adds the subdevice to the device */
- subd = a4l_alloc_subd(0, setup_test_subd);
+ /* Adds the AI subdevice to the device */
+ subd = a4l_alloc_subd(sizeof(struct ai_priv), setup_ai_subd);
if(subd == NULL)
return -ENOMEM;
+ ai_priv = (struct ai_priv*)subd->priv;
+ ai_priv->timer_running = 0;
+ ai_priv->amplitude_div = priv->amplitude_div;
+ ai_priv->quanta_cnt = priv->quanta_cnt;
+
+ ret = a4l_task_init(&ai_priv->timer_task,
+ "Fake AI task",
+ ai_task_proc,
+ subd, A4L_TASK_HIGHEST_PRIORITY);
+
ret = a4l_add_subd(dev, subd);
- if(ret != TEST_INPUT_SUBD)
+ if(ret != AI_SUBD)
return (ret < 0) ? ret : -EINVAL;
a4l_dbg(1, drv_dbg, dev, "AI subdevice registered\n");
- priv->timer_running = 0;
+ /* Adds the DIO subdevice to the device */
+ subd = a4l_alloc_subd(sizeof(struct dio_priv), setup_dio_subd);
+ if(subd == NULL)
+ return -ENOMEM;
+
+ ret = a4l_add_subd(dev, subd);
+ if(ret != DIO_SUBD)
+ return (ret < 0) ? ret : -EINVAL;
- ret = a4l_task_init(&priv->timer_task,
- "a4l_test task",
- test_task_proc,
- dev, A4L_TASK_HIGHEST_PRIORITY);
+ a4l_dbg(1, drv_dbg, dev, "DIO subdevice registered\n");
a4l_dbg(1, drv_dbg, dev, "attach procedure complete\n");
return ret;
}
-/* Detach callback */
int test_detach(a4l_dev_t *dev)
{
- tstprv_t *priv = (tstprv_t *)dev->priv;
+ struct ai_priv *priv = (struct ai_priv *)dev->priv;
a4l_task_destroy(&priv->timer_task);
@@ -305,14 +348,14 @@ int test_detach(a4l_dev_t *dev)
return 0;
}
-/* --- Module part --- */
+/* --- Module stuff --- */
static a4l_drv_t test_drv = {
.owner = THIS_MODULE,
.board_name = "analogy_fake",
.attach = test_attach,
.detach = test_detach,
- .privdata_size = sizeof(tstprv_t),
+ .privdata_size = sizeof(struct fake_priv),
};
static int __init a4l_fake_init(void)
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