315 lines
8.6 KiB
C
315 lines
8.6 KiB
C
|
/*
|
||
|
|
* Parallel port to Walkera WK-0701 TX joystick
|
||
|
|
*
|
||
|
|
* Copyright (c) 2008 Peter Popovec
|
||
|
|
*
|
||
|
|
* More about driver: <file:Documentation/input/walkera0701.txt>
|
||
|
|
*/
|
||
|
|
|
||
|
|
/*
|
||
|
|
* 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.
|
||
|
|
*/
|
||
|
|
|
||
|
|
#define pr_fmt(fmt) KBUILD_MODNAME ": " fmt
|
||
|
|
|
||
|
|
#define RESERVE 20000
|
||
|
|
#define SYNC_PULSE 1306000
|
||
|
|
#define BIN0_PULSE 288000
|
||
|
|
#define BIN1_PULSE 438000
|
||
|
|
|
||
|
|
#define ANALOG_MIN_PULSE 318000
|
||
|
|
#define ANALOG_MAX_PULSE 878000
|
||
|
|
#define ANALOG_DELTA 80000
|
||
|
|
|
||
|
|
#define BIN_SAMPLE ((BIN0_PULSE + BIN1_PULSE) / 2)
|
||
|
|
|
||
|
|
#define NO_SYNC 25
|
||
|
|
|
||
|
|
#include <linux/kernel.h>
|
||
|
|
#include <linux/module.h>
|
||
|
|
#include <linux/parport.h>
|
||
|
|
#include <linux/input.h>
|
||
|
|
#include <linux/hrtimer.h>
|
||
|
|
|
||
|
|
MODULE_AUTHOR("Peter Popovec <popovec@fei.tuke.sk>");
|
||
|
|
MODULE_DESCRIPTION("Walkera WK-0701 TX as joystick");
|
||
|
|
MODULE_LICENSE("GPL");
|
||
|
|
|
||
|
|
static unsigned int walkera0701_pp_no;
|
||
|
|
module_param_named(port, walkera0701_pp_no, int, 0);
|
||
|
|
MODULE_PARM_DESC(port,
|
||
|
|
"Parallel port adapter for Walkera WK-0701 TX (default is 0)");
|
||
|
|
|
||
|
|
/*
|
||
|
|
* For now, only one device is supported, if somebody need more devices, code
|
||
|
|
* can be expanded, one struct walkera_dev per device must be allocated and
|
||
|
|
* set up by walkera0701_connect (release of device by walkera0701_disconnect)
|
||
|
|
*/
|
||
|
|
|
||
|
|
struct walkera_dev {
|
||
|
|
unsigned char buf[25];
|
||
|
|
u64 irq_time, irq_lasttime;
|
||
|
|
int counter;
|
||
|
|
int ack;
|
||
|
|
|
||
|
|
struct input_dev *input_dev;
|
||
|
|
struct hrtimer timer;
|
||
|
|
|
||
|
|
struct parport *parport;
|
||
|
|
struct pardevice *pardevice;
|
||
|
|
};
|
||
|
|
|
||
|
|
static struct walkera_dev w_dev;
|
||
|
|
|
||
|
|
static inline void walkera0701_parse_frame(struct walkera_dev *w)
|
||
|
|
{
|
||
|
|
int i;
|
||
|
|
int val1, val2, val3, val4, val5, val6, val7, val8;
|
||
|
|
int magic, magic_bit;
|
||
|
|
int crc1, crc2;
|
||
|
|
|
||
|
|
for (crc1 = crc2 = i = 0; i < 10; i++) {
|
||
|
|
crc1 += w->buf[i] & 7;
|
||
|
|
crc2 += (w->buf[i] & 8) >> 3;
|
||
|
|
}
|
||
|
|
if ((w->buf[10] & 7) != (crc1 & 7))
|
||
|
|
return;
|
||
|
|
if (((w->buf[10] & 8) >> 3) != (((crc1 >> 3) + crc2) & 1))
|
||
|
|
return;
|
||
|
|
for (crc1 = crc2 = 0, i = 11; i < 23; i++) {
|
||
|
|
crc1 += w->buf[i] & 7;
|
||
|
|
crc2 += (w->buf[i] & 8) >> 3;
|
||
|
|
}
|
||
|
|
if ((w->buf[23] & 7) != (crc1 & 7))
|
||
|
|
return;
|
||
|
|
if (((w->buf[23] & 8) >> 3) != (((crc1 >> 3) + crc2) & 1))
|
||
|
|
return;
|
||
|
|
val1 = ((w->buf[0] & 7) * 256 + w->buf[1] * 16 + w->buf[2]) >> 2;
|
||
|
|
val1 *= ((w->buf[0] >> 2) & 2) - 1; /* sign */
|
||
|
|
val2 = (w->buf[2] & 1) << 8 | (w->buf[3] << 4) | w->buf[4];
|
||
|
|
val2 *= (w->buf[2] & 2) - 1; /* sign */
|
||
|
|
val3 = ((w->buf[5] & 7) * 256 + w->buf[6] * 16 + w->buf[7]) >> 2;
|
||
|
|
val3 *= ((w->buf[5] >> 2) & 2) - 1; /* sign */
|
||
|
|
val4 = (w->buf[7] & 1) << 8 | (w->buf[8] << 4) | w->buf[9];
|
||
|
|
val4 *= (w->buf[7] & 2) - 1; /* sign */
|
||
|
|
val5 = ((w->buf[11] & 7) * 256 + w->buf[12] * 16 + w->buf[13]) >> 2;
|
||
|
|
val5 *= ((w->buf[11] >> 2) & 2) - 1; /* sign */
|
||
|
|
val6 = (w->buf[13] & 1) << 8 | (w->buf[14] << 4) | w->buf[15];
|
||
|
|
val6 *= (w->buf[13] & 2) - 1; /* sign */
|
||
|
|
val7 = ((w->buf[16] & 7) * 256 + w->buf[17] * 16 + w->buf[18]) >> 2;
|
||
|
|
val7 *= ((w->buf[16] >> 2) & 2) - 1; /*sign */
|
||
|
|
val8 = (w->buf[18] & 1) << 8 | (w->buf[19] << 4) | w->buf[20];
|
||
|
|
val8 *= (w->buf[18] & 2) - 1; /*sign */
|
||
|
|
|
||
|
|
magic = (w->buf[21] << 4) | w->buf[22];
|
||
|
|
magic_bit = (w->buf[24] & 8) >> 3;
|
||
|
|
pr_debug("%4d %4d %4d %4d %4d %4d %4d %4d (magic %2x %d)\n",
|
||
|
|
val1, val2, val3, val4, val5, val6, val7, val8,
|
||
|
|
magic, magic_bit);
|
||
|
|
|
||
|
|
input_report_abs(w->input_dev, ABS_X, val2);
|
||
|
|
input_report_abs(w->input_dev, ABS_Y, val1);
|
||
|
|
input_report_abs(w->input_dev, ABS_Z, val6);
|
||
|
|
input_report_abs(w->input_dev, ABS_THROTTLE, val3);
|
||
|
|
input_report_abs(w->input_dev, ABS_RUDDER, val4);
|
||
|
|
input_report_abs(w->input_dev, ABS_MISC, val7);
|
||
|
|
input_report_key(w->input_dev, BTN_GEAR_DOWN, val5 > 0);
|
||
|
|
}
|
||
|
|
|
||
|
|
static inline int read_ack(struct pardevice *p)
|
||
|
|
{
|
||
|
|
return parport_read_status(p->port) & 0x40;
|
||
|
|
}
|
||
|
|
|
||
|
|
/* falling edge, prepare to BIN value calculation */
|
||
|
|
static void walkera0701_irq_handler(void *handler_data)
|
||
|
|
{
|
||
|
|
u64 pulse_time;
|
||
|
|
struct walkera_dev *w = handler_data;
|
||
|
|
|
||
|
|
w->irq_time = ktime_to_ns(ktime_get());
|
||
|
|
pulse_time = w->irq_time - w->irq_lasttime;
|
||
|
|
w->irq_lasttime = w->irq_time;
|
||
|
|
|
||
|
|
/* cancel timer, if in handler or active do resync */
|
||
|
|
if (unlikely(0 != hrtimer_try_to_cancel(&w->timer))) {
|
||
|
|
w->counter = NO_SYNC;
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (w->counter < NO_SYNC) {
|
||
|
|
if (w->ack) {
|
||
|
|
pulse_time -= BIN1_PULSE;
|
||
|
|
w->buf[w->counter] = 8;
|
||
|
|
} else {
|
||
|
|
pulse_time -= BIN0_PULSE;
|
||
|
|
w->buf[w->counter] = 0;
|
||
|
|
}
|
||
|
|
if (w->counter == 24) { /* full frame */
|
||
|
|
walkera0701_parse_frame(w);
|
||
|
|
w->counter = NO_SYNC;
|
||
|
|
if (abs(pulse_time - SYNC_PULSE) < RESERVE) /* new frame sync */
|
||
|
|
w->counter = 0;
|
||
|
|
} else {
|
||
|
|
if ((pulse_time > (ANALOG_MIN_PULSE - RESERVE)
|
||
|
|
&& (pulse_time < (ANALOG_MAX_PULSE + RESERVE)))) {
|
||
|
|
pulse_time -= (ANALOG_MIN_PULSE - RESERVE);
|
||
|
|
pulse_time = (u32) pulse_time / ANALOG_DELTA; /* overtiping is safe, pulsetime < s32.. */
|
||
|
|
w->buf[w->counter++] |= (pulse_time & 7);
|
||
|
|
} else
|
||
|
|
w->counter = NO_SYNC;
|
||
|
|
}
|
||
|
|
} else if (abs(pulse_time - SYNC_PULSE - BIN0_PULSE) <
|
||
|
|
RESERVE + BIN1_PULSE - BIN0_PULSE) /* frame sync .. */
|
||
|
|
w->counter = 0;
|
||
|
|
|
||
|
|
hrtimer_start(&w->timer, ktime_set(0, BIN_SAMPLE), HRTIMER_MODE_REL);
|
||
|
|
}
|
||
|
|
|
||
|
|
static enum hrtimer_restart timer_handler(struct hrtimer
|
||
|
|
*handle)
|
||
|
|
{
|
||
|
|
struct walkera_dev *w;
|
||
|
|
|
||
|
|
w = container_of(handle, struct walkera_dev, timer);
|
||
|
|
w->ack = read_ack(w->pardevice);
|
||
|
|
|
||
|
|
return HRTIMER_NORESTART;
|
||
|
|
}
|
||
|
|
|
||
|
|
static int walkera0701_open(struct input_dev *dev)
|
||
|
|
{
|
||
|
|
struct walkera_dev *w = input_get_drvdata(dev);
|
||
|
|
|
||
|
|
if (parport_claim(w->pardevice))
|
||
|
|
return -EBUSY;
|
||
|
|
|
||
|
|
parport_enable_irq(w->parport);
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
static void walkera0701_close(struct input_dev *dev)
|
||
|
|
{
|
||
|
|
struct walkera_dev *w = input_get_drvdata(dev);
|
||
|
|
|
||
|
|
parport_disable_irq(w->parport);
|
||
|
|
hrtimer_cancel(&w->timer);
|
||
|
|
|
||
|
|
parport_release(w->pardevice);
|
||
|
|
}
|
||
|
|
|
||
|
|
static void walkera0701_attach(struct parport *pp)
|
||
|
|
{
|
||
|
|
struct pardev_cb walkera0701_parport_cb;
|
||
|
|
struct walkera_dev *w = &w_dev;
|
||
|
|
|
||
|
|
if (pp->number != walkera0701_pp_no) {
|
||
|
|
pr_debug("Not using parport%d.\n", pp->number);
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (pp->irq == -1) {
|
||
|
|
pr_err("parport %d does not have interrupt assigned\n",
|
||
|
|
pp->number);
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
|
||
|
|
w->parport = pp;
|
||
|
|
|
||
|
|
memset(&walkera0701_parport_cb, 0, sizeof(walkera0701_parport_cb));
|
||
|
|
walkera0701_parport_cb.flags = PARPORT_FLAG_EXCL;
|
||
|
|
walkera0701_parport_cb.irq_func = walkera0701_irq_handler;
|
||
|
|
walkera0701_parport_cb.private = w;
|
||
|
|
|
||
|
|
w->pardevice = parport_register_dev_model(pp, "walkera0701",
|
||
|
|
&walkera0701_parport_cb, 0);
|
||
|
|
|
||
|
|
if (!w->pardevice) {
|
||
|
|
pr_err("failed to register parport device\n");
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (parport_negotiate(w->pardevice->port, IEEE1284_MODE_COMPAT)) {
|
||
|
|
pr_err("failed to negotiate parport mode\n");
|
||
|
|
goto err_unregister_device;
|
||
|
|
}
|
||
|
|
|
||
|
|
hrtimer_init(&w->timer, CLOCK_MONOTONIC, HRTIMER_MODE_REL);
|
||
|
|
w->timer.function = timer_handler;
|
||
|
|
|
||
|
|
w->input_dev = input_allocate_device();
|
||
|
|
if (!w->input_dev) {
|
||
|
|
pr_err("failed to allocate input device\n");
|
||
|
|
goto err_unregister_device;
|
||
|
|
}
|
||
|
|
|
||
|
|
input_set_drvdata(w->input_dev, w);
|
||
|
|
w->input_dev->name = "Walkera WK-0701 TX";
|
||
|
|
w->input_dev->phys = w->parport->name;
|
||
|
|
w->input_dev->id.bustype = BUS_PARPORT;
|
||
|
|
|
||
|
|
/* TODO what id vendor/product/version ? */
|
||
|
|
w->input_dev->id.vendor = 0x0001;
|
||
|
|
w->input_dev->id.product = 0x0001;
|
||
|
|
w->input_dev->id.version = 0x0100;
|
||
|
|
w->input_dev->dev.parent = w->parport->dev;
|
||
|
|
w->input_dev->open = walkera0701_open;
|
||
|
|
w->input_dev->close = walkera0701_close;
|
||
|
|
|
||
|
|
w->input_dev->evbit[0] = BIT(EV_ABS) | BIT_MASK(EV_KEY);
|
||
|
|
w->input_dev->keybit[BIT_WORD(BTN_GEAR_DOWN)] = BIT_MASK(BTN_GEAR_DOWN);
|
||
|
|
|
||
|
|
input_set_abs_params(w->input_dev, ABS_X, -512, 512, 0, 0);
|
||
|
|
input_set_abs_params(w->input_dev, ABS_Y, -512, 512, 0, 0);
|
||
|
|
input_set_abs_params(w->input_dev, ABS_Z, -512, 512, 0, 0);
|
||
|
|
input_set_abs_params(w->input_dev, ABS_THROTTLE, -512, 512, 0, 0);
|
||
|
|
input_set_abs_params(w->input_dev, ABS_RUDDER, -512, 512, 0, 0);
|
||
|
|
input_set_abs_params(w->input_dev, ABS_MISC, -512, 512, 0, 0);
|
||
|
|
|
||
|
|
if (input_register_device(w->input_dev)) {
|
||
|
|
pr_err("failed to register input device\n");
|
||
|
|
goto err_free_input_dev;
|
||
|
|
}
|
||
|
|
|
||
|
|
return;
|
||
|
|
|
||
|
|
err_free_input_dev:
|
||
|
|
input_free_device(w->input_dev);
|
||
|
|
err_unregister_device:
|
||
|
|
parport_unregister_device(w->pardevice);
|
||
|
|
}
|
||
|
|
|
||
|
|
static void walkera0701_detach(struct parport *port)
|
||
|
|
{
|
||
|
|
struct walkera_dev *w = &w_dev;
|
||
|
|
|
||
|
|
if (!w->pardevice || w->parport->number != port->number)
|
||
|
|
return;
|
||
|
|
|
||
|
|
input_unregister_device(w->input_dev);
|
||
|
|
parport_unregister_device(w->pardevice);
|
||
|
|
w->parport = NULL;
|
||
|
|
}
|
||
|
|
|
||
|
|
static struct parport_driver walkera0701_parport_driver = {
|
||
|
|
.name = "walkera0701",
|
||
|
|
.match_port = walkera0701_attach,
|
||
|
|
.detach = walkera0701_detach,
|
||
|
|
.devmodel = true,
|
||
|
|
};
|
||
|
|
|
||
|
|
static int __init walkera0701_init(void)
|
||
|
|
{
|
||
|
|
return parport_register_driver(&walkera0701_parport_driver);
|
||
|
|
}
|
||
|
|
|
||
|
|
static void __exit walkera0701_exit(void)
|
||
|
|
{
|
||
|
|
parport_unregister_driver(&walkera0701_parport_driver);
|
||
|
|
}
|
||
|
|
|
||
|
|
module_init(walkera0701_init);
|
||
|
|
module_exit(walkera0701_exit);
|