Short Version
I want to write a Linux Driver for a custom USB device. Before writing the driver I used libusb-1.0 to test the device. With the following function call, I could read out a uin16_t value from the device:
status = libusb_control_transfer(handle, /* Device Handle */
0x80, /* bRequestType */
0x10, /* bRequest */
value, /* wValue */
0x0, /* wIndex */
((uint8_t *) &value), /* data */
2, /* wLength */
100); /* timeout */
After this call, I got a new value in the value variable.
Now I want to accomplish the same call in my Driver. I have tried the following in the probe function of my USB driver:
status = usb_control_msg(data->udev, usb_rcvctrlpipe(data->udev, 0), 0x10, USB_DIR_IN, 0, 0, (u8*) &my_data, 2, 100);
All I get is the return value -11 and on my device I don't see anything.
The only thing I am doing before this call, is calling data->udev = interface_to_usbdev(intf); to get the USB device from my interface.
Does anyone know, if I am missing something or if I am doing something wrong?
Long version
I want to learn how to write USB Drivers in Linux. As a DUT for which I can write a driver, I choose a Raspberry Pi Pico and the dev_lowlevel USB example. I adapt the code a little bit, so I can use a control transfer with bRequest 0x10 and bRequestType 0x0 (USB_DIR_OUT) to turn the Pico's onboard LED on or off and a control transfer with bRequest 0x10 and bRequestType 0x80 (USB_DIR_IN) to read back the current value of the LED.
With a user space program and the following code I can read out the value of the LED and turn it on or off:
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdint.h>
#include <libusb-1.0/libusb.h>
#define VID 0x0000
#define DID 0x0001
int main(int argc, char **argv) {
int status, len;
libusb_device_handle *handle = NULL;
/* Init Libusb */
status = libusb_init(NULL);
if(status < 0) {
printf("Error init USB!\n");
return status;
}
handle = libusb_open_device_with_vid_pid(NULL, VID, DID);
if(!handle) {
printf("No device found with %04x:%04x\n", VID, DID);
libusb_exit(NULL);
return -1;
}
if(argc > 1)
value = atoi(argv[1]);
else {
/* Do control transfer */
status = libusb_control_transfer(handle, /* Device Handle */
0x80, /* bRequestType */
0x10, /* bRequest */
value, /* wValue */
0x0, /* wIndex */
((uint8_t *) &value), /* data */
2, /* wLength */
100); /* timeout */
if(status < 0) {
printf("Error during control transfer!\n");
libusb_close(handle);
libusb_exit(NULL);
return -1;
}
printf("Got: %d\n", value);
value = (value + 1) & 0x1;
}
/* Do control transfer */
status = libusb_control_transfer(handle, 0x0, 0x10, value, 0x0, NULL, 0, 100);
if(status < 0) {
printf("Error during control transfer!\n");
libusb_close(handle);
libusb_exit(NULL);
return -1;
}
libusb_close(handle);
libusb_exit(NULL);
return 0;
}
Now I want to control my device over a USB Driver. Here is what I got already:
#include <linux/module.h>
#include <linux/init.h>
#include <linux/usb.h>
#include <linux/slab.h>
/* Meta Information */
MODULE_LICENSE("GPL");
MODULE_AUTHOR("Johannes 4 GNU/Linux");
MODULE_DESCRIPTION("Driver for my custom RPi Pico USB device");
struct pico_usb {
struct usb_device *udev;
};
#define PICO_VID 0x0000
#define PICO_PID 0x0001
static struct usb_device_id pico_usb_table [] = {
{ USB_DEVICE(PICO_VID, PICO_PID) },
{},
};
MODULE_DEVICE_TABLE(usb, pico_usb_table);
static int pico_usb_probe(struct usb_interface *intf, const struct usb_device_id *id) {
struct pico_usb *data;
int status;
int my_data;
printk("pico_usb_drv - Now I am in the Probe function!\n");
data = kzalloc(sizeof(struct pico_usb), GFP_KERNEL);
if(!data) {
printk("pico_usb_drv - Out of memory\n");
return -ENOMEM;
}
data->udev = interface_to_usbdev(intf);
usb_set_intfdata(intf, data);
/* Turn the LED on */
status = usb_control_msg(data->udev, usb_sndctrlpipe(data->udev, 0), 0x10, USB_DIR_OUT, 1, 0, 0, 0, 100);
/* Read LED state */
printk("pico_usb_drv - status USB_DIR_OUT: %d\n", status);
status = usb_control_msg(data->udev, usb_rcvctrlpipe(data->udev, 0), 0x10, USB_DIR_IN, 0, 0, (u8*) &my_data, 2, 100);
printk("pico_usb_drv - status USB_DIR_IN: %d\n", status);
return 0;
}
static void pico_usb_disconnect(struct usb_interface *intf) {
struct pico_usb *data;
printk("pico_usb_drv - Now I am in the Disconnect function!\n");
data = usb_get_intfdata(intf);
kfree(data);
}
static struct usb_driver pico_usb_driver = {
//.owner = THIS_MODULE,
.name = "pico_usb",
.id_table = pico_usb_table,
.probe = pico_usb_probe,
.disconnect = pico_usb_disconnect,
};
/**
* #brief This function is called, when the module is loaded into the kernel
*/
static int __init pico_usb_init(void) {
int result;
printk("pico_usb_drv - Registering the PICO USB device\n");
result = usb_register(&pico_usb_driver);
if(result) {
printk("pico_usb_drv - Error registering the PICO USB device\n");
return -result;
}
return 0;
}
/**
* #brief This function is called, when the module is removed from the kernel
*/
static void __exit pcio_usb_exit(void) {
printk("pico_usb_drv - Unregistering the PICO USB device\n");
usb_deregister(&pico_usb_driver);
}
module_init(pico_usb_init);
module_exit(pcio_usb_exit);
The first control message works and my LED is turned on. But the second control message doesn't do anything, but gives me the error code -11 back.
Does anyone know, if I am missing something or if I am doing something wrong?
Ok, I found the solution. Instead of usb_control_msg I use usb_control_msg_recv now and everything works just fine.
usb_control_msg_recv takes one more argument:
int usb_control_msg_recv(struct usb_device *dev, __u8 endpoint, __u8 request, __u8 requesttype, __u16 value, __u16 index, void *driver_data, __u16 size, int timeout, gfp_t memflags)
As I pass the pointer to a variable and don't want to allocate memory dynamically, I set the memflags argument to 0.
I am using a PIC 18F46K22 in SPI master mode to communicate with a Waveshare 1.54" ePaper Module. The FOSC frequency is 8Mhz internal and SPI configuration is FOSC/4. So when I check the output on logic-analyzer some output bits are differ from expected. And there is some deviation in SCL.
#include <xc.h>
#include "config.h"
#include <stdbool.h>
#include <stddef.h>
#include <stdint.h>
#include "main.h"
//#define _XTAL_FREQ 8000000
#define SPI1_DUMMY_DATA 0x0
#define SPI_RX_IN_PROGRESS 0x0
#define MY_BUFFER_SIZE 25
extern UBYTE EPD_Init(const unsigned char* lut);
unsigned char myWriteBuffer[100]="Hi I'm master..";
uint8_t myReadBuffer[100];
uint8_t total;
uint8_t temp;
uint8_t my_data = 0x58;
void UART_Init(void)
{
//69
SPBRG2 = 69;
TXSTA2bits.BRGH = 1;
BAUDCON2bits.BRG16 = 1; // Divisor at 8 bit
TRISDbits.TRISD6 = 0;
TRISDbits.TRISD7 = 1;
RCSTA2bits.SPEN = 1; // Enable serial port
TXSTA2bits.SYNC = 0; // Async operation
TXSTA2bits.TX9 = 0; // No tx of 9th bit
RCSTA2bits.RX9 = 0; // No rx of 9th bit
TXSTA2bits.TXEN = 1; // Enable transmitter
RCSTA2bits.CREN = 1; // Enable receiver
}
void UART_Putch(unsigned char bt)
{
while (!PIR3bits.TX2IF); // hold the program till TX buffer is free
TXREG2 = bt; //Load the transmitter buffer with the received value
}
void UART_Print(unsigned const char *ptr)
{
while (*ptr != 0)
{
UART_Putch(*ptr++);
}
}
unsigned char UART_getch() {
unsigned char temp;
if (RCSTA2bits.OERR) // check for Error
{
RCSTA2bits.CREN = 0; //If error -> Reset
//__delay_ms(10);
RCSTA2bits.CREN = 1; //If error -> Reset
}
while (!PIR3bits.RC2IF); // hold the program till RX buffer is free
temp = RCREG2;
return temp; //receive the value and send it to main function
}
void main()
{
ANSELA = 0;
ANSELB = 0;
ANSELC = 0;
ANSELD = 0;
TRISBbits.TRISB0 = 0; //RST Pin OUTPUT
TRISBbits.TRISB1 = 0; //DC Pin OUTPUT
TRISBbits.TRISB2 = 0; //CS Pin OUTPUT
TRISBbits.RB3 = 1; //BUSY Pin INPUT
// int i;
TRISD =0;/* PORT initialize as output */
EPD_RST_PIN = 0;
EPD_DC_PIN = 0;
//OSCCON = 0x72; /* Use internal osc. frequency 16 MHz */
OSCCONbits.SCS = 0b10; //Frequency & PLL SETUP
OSCCONbits.IRCF = 0b110; //8 MHz
while (!OSCCONbits.HFIOFS);
OSCTUNEbits.PLLEN = 0; //PLL disable
UART_Init();
SPI_Init_Master(); /* Initialize SPI communication as a master */
if(EPD_Init(lut_full_update) != 0) {
UART_Print("e-Paper init failed\r\n");
while(1);
}
UART_Print("e-Paper init\r\n");
for(uint8_t i = 0; i < 10; i++){
__delay_ms(10);
}
EPD_Clear();
UART_Print("e-Paper cleared\r\n");
for(uint8_t i = 0; i < 10; i++){
__delay_ms(50);
}
while(1)
{
// total = 0;
// //do
// //{
// LATAbits.LATA5=0;
// //total = SPI1_Exchange8bitBuffer(SPI1_DUMMY_DATA, MY_BUFFER_SIZE, &myReadBuffer[total]);
// total = SPI1_Exchange8bit(my_data);
//
// LATAbits.LATA5=1;
// __delay_ms(500);
// __delay_ms(500);
// // Do something else...
//
// //} while(total < MY_BUFFER_SIZE);
// //while(1);
//
// EPD_Clear();
//
// __delay_ms(500);
}
}
void SPI_Init_Master()
{
/* PORT definition for SPI pins*/
TRISCbits.TRISC4 = 1; /* RB0 as input(SDI) */
TRISCbits.TRISC3 = 0; /* RB1 as output(SCK) */
// TRISBbits.TRISB2 = 0; /* RA5 as a output(SS') */
TRISCbits.TRISC5 = 0; /* RC7 as output(SDO) */
/* To initialize SPI Communication configure following Register*/
EPD_CS_PIN = 1;
SSP1STAT=0x00; /* Data change on rising edge of clk , BF=0*/
SSP1CON1=0x20; /* Slave mode,Serial enable, idle state high for clk */
PIR1bits.SSP1IF=0;
/* Disable the ADC channel which are on for multiplexed pin
when used as an input */
ADCON0=0; /* This is for de-multiplexed the SCL
and SDI from analog pins*/
ADCON1=0x0F; /* This makes all pins as digital I/O */
}
uint8_t SPI1_Exchange8bit(uint8_t data)
{
// Clear the Write Collision flag, to allow writing
SSP1CON1bits.WCOL = 0;
SSP1BUF = data;
while(SSP1STATbits.BF == SPI_RX_IN_PROGRESS)
{
}
return (SSP1BUF);
}
uint8_t SPI1_Exchange8bitBuffer(uint8_t *dataIn, uint8_t bufLen, uint8_t *dataOut)
{
uint8_t bytesWritten = 0;
if(bufLen != 0)
{
if(dataIn != NULL)
{
while(bytesWritten < bufLen)
{
if(dataOut == NULL)
{
SPI1_Exchange8bit(dataIn[bytesWritten]);
}
else
{
dataOut[bytesWritten] = SPI1_Exchange8bit(dataIn[bytesWritten]);
}
bytesWritten++;
}
}
else
{
if(dataOut != NULL)
{
while(bytesWritten < bufLen )
{
temp = SPI1_Exchange8bit(SPI1_DUMMY_DATA);
if(temp!=SPI1_DUMMY_DATA)
{
UART_Putch(temp); //uart print
dataOut[bytesWritten] = temp;
bytesWritten++;
}
__delay_ms(5);
}
}
}
}
return bytesWritten;
}
Compare your logic analyser SCK and MOSI timing with that specified for the part at https://www.waveshare.com/wiki/1.54inch_e-Paper_Module:
Note that the MOSI (SDIN) state must be stable on the rising edge of SCK (SCLK). In your case the MOSI transitions are synchronous with the rising edge, and you have a clock transition before the MOSI has the correct D7=0 state. SPI timing is defined by both clock polarity and clock phase - giving four possible clock modes. Compare the Waveshare timing diagram with the 18F46K22 datasheet:
The Waveshare diagram suggests that either CKP=1/CKE=0, or CKP=0/CKE=1 may be used, you have:
SSP1STAT=0x00 ;
SSP1CON1=0x20 ;
Which is CKP=0/CKE=0 (which correlates with your logic analyser trace).
You need on of either:
SSP1STAT=0x20 ; // CKE=1
SSP1CON1=0x20 ; // CKP=0
or
SSP1STAT=0x00 ; // CKE=0
SSP1CON1=0x30 ; // CKP=1
Since idle state (controlled by CKP) of SCK is a don't-care, I suggest leaving that as-is and using the first suggestion - that seems more intuitive somehow.
Note also that your logic analyser must also be set to the same phase/polarity clock mode in order for its presentation of the data to be correct.
I'm trying to use SPI on Raspberry PI using spidev and his test code as skeleton for my own. I have a problem with table size. My table has different size before I pass it to transfer function i.e. my table has 3 elements, inside function it has 4. Here is my code:
// spi.cpp : Defines the entry point for the console application.
//
#include <stdint.h>
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <getopt.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <linux/types.h>
#include <linux/spi/spidev.h>
#define ARRAY_SIZE(a) (sizeof(a) / sizeof((a)[0]))
static const char *device = "/dev/spidev0.0";
static uint8_t mode;
static uint8_t bits = 8;
static uint32_t speed = 1000000;
static uint16_t delay;
//this function gives problems with diffrent size of array
static void transfer(int fd, uint8_t tx[])
{
printf("transfer1");
printf(" rozmiar tab=%d ", ARRAY_SIZE(tx));
int ret;
uint8_t rx[ARRAY_SIZE(tx)] = { 0, };
struct spi_ioc_transfer tr = {
.tx_buf = (unsigned long)tx,
.rx_buf = (unsigned long)rx,
.len = 3,
.delay_usecs = delay,
.speed_hz = speed,
.bits_per_word = bits,
};
ret = ioctl(fd, SPI_IOC_MESSAGE(1), &tr);
for (ret = 0; ret < ARRAY_SIZE(tx); ret++) {
if (!(ret % 6))
puts("");
printf("%d. %.2X ", ret,rx[ret]);
}
puts("");
}
int main(int argc, char *argv[])
{
int ret = 0;
int fd;
fd = open(device, O_RDWR);
/*
* spi mode
*/
ret = ioctl(fd, SPI_IOC_WR_MODE, &mode);
ret = ioctl(fd, SPI_IOC_RD_MODE, &mode);
/*
* bits per word
*/
ret = ioctl(fd, SPI_IOC_WR_BITS_PER_WORD, &bits);
ret = ioctl(fd, SPI_IOC_RD_BITS_PER_WORD, &bits);
/*
* max speed hz
*/
ret = ioctl(fd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
ret = ioctl(fd, SPI_IOC_RD_MAX_SPEED_HZ, &speed);
printf("spi mode: %d\n", mode);
printf("bits per word: %d\n", bits);
printf("max speed: %d Hz (%d KHz)\n", speed, speed / 1000);
uint8_t tx1[] = {
0x0, 0x1b, 0xa5
};
//here I'm passing table to function
transfer(fd, tx1);
uint8_t tx2[] = {
0x0, 0x33, 0x30, 0x01, 0x02
};
printf(" %d. ", ARRAY_SIZE(tx2));
transfer(fd, tx2);
uint8_t tx3[] = {
0x0, 0x52, 0x90
};
transfer(fd, tx3);
uint8_t tx4[] = {
0x80, 0x60
};
printf(" %d. ", ARRAY_SIZE(tx4));
transfer(fd, tx4);
close(fd);
return ret;
}
An array sent as a parameter to a function is treated as a pointer. Your ARRAY_SIZE(a) is roughly expanded to (sizeof(uint8_t*) / sizeof(uint8_t)), which equals 4 on 32-bit platform.
You should explicitly pass array size as a 3rd parameter:
void transfer(int fd, const uint8_t *tx, size_t size) { ... }
Then, you can use your macro to properly calculate array size:
transfer(fd, tx1, ARRAY_SIZE(tx1));
If tx is not being modified inside transfer(), it is a matter of good taste to make it const.
I have written code for a uPP device driver to be used with an OMAPL138 based custom board for data acquisition through a camera lens. The code for my device driver is:
/*
* A device driver for the Texas Instruments
* Universal Paralllel Port (UPP)
*
* Modified by: Ali Shehryar <github.com/sshehryar>
*
*/
#include <linux/module.h>
#include <linux/spinlock.h>
#include <linux/fs.h>
#include <linux/delay.h> //for "mdelay(...)"
#include <linux/interrupt.h>
#include <linux/cdev.h>
#include <linux/moduleparam.h>
#include <mach/da8xx.h>
#include <asm/sizes.h>
#include <asm/io.h>
#include <mach/mux.h>
#include <linux/gpio.h>
#include <mach/gpio.h>
#include <asm/gpio.h>
//SPRUH77A.PDF, Table 12-1. The Interrupt number assigned to the UPP module.
#define UPP_INTERRUPT 91
//SPRS586D.PDF, Table 2-4
#define DA850_UPP_BASE 0x01E16000
//SPRS586D.PDF, Table 5-117. Offsets from DA850_UPP_BASE
#define UPPCR 0x00000004
#define UPDLB 0x00000008
#define UPCTL 0x00000010
#define UPICR 0x00000014
#define UPIVR 0x00000018
#define UPTCR 0x0000001C
#define UPIER 0x00000024
#define UPIES 0x00000028
#define UPIEC 0x0000002C
#define UPEOI 0x00000030
#define UPID0 0x00000040
#define UPID1 0x00000044
#define UPID2 0x00000048
#define UPIS0 0x00000050
#define UPIS1 0x00000054
#define UPIS2 0x00000058
//SPRS586D.PDF, Table 2-4
#define DA850_PSC1_BASE 0x01E27000
//SPRUH77A.PDF, Table 9-7.
//"Power and Sleep Controller 1" (PSC1) Revision ID Register.
#define PSC_REVID 0x00000000
//SPRUH77A.PDF, Table 9-7.
//"Power Domain Transition Status" Register.
#define PSC_PTSTAT 0x00000128
//SPRUH77A.PDF, Table 9-2, Table 9-7.
//NOTE that in Table 9-2, UPP module has an LPSC number of 19...
#define PSC1_MDCTL_19 0x00000A4C //0xA00 + (19*4).
//SPRUH77A.PDF, Table 9-7.
//"Power Domain Transition Command Register" Register.
#define PSC_PTCMD 0x00000120
//DMA Status Register bitmasks used in the ISR handler....
#define EOLI 16
#define EOWI 8
#define ERRI 4
#define UORI 2
#define DPEI 1
#define UPIES_MASK 0x0000001F
///#define UPIES_MASK 0x1717 ---> Reverted back to 1717 because Window interrupt is not used, for now its useless
//To Enable all interrupts ---> #define UPIES_MASK 0x1F1F
/// Shehryar: These Parameters are to be modified and tweaked according to reqirements in realtime.
//The DMA PARAMETERS
#define UPP_BUF_SIZE 8192 //Need to lookup for an exact val (changed from 8192 on 2 DEc 14)
#define UPP_RX_LINE_COUNT 8 //Changed from 8
#define UPP_RX_LINE_SIZE 1024
#define UPP_RX_LINE_OFFSET 1024 //value changed from 1024 to 0 on 2 DEC 2014
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//MODIFIED BY: SHEHRYAR ---> Pg 888 General-Purpose Input/Output (GPIO) SPRUH82A–December 2011. Added 25-Nov-2014
#define DA850_GPIO_BASE 0x01E26000
//------------------------------------- 9/12/2014-----------------
//#define MY_BUFFER_SIZE 1048756
//----------------------------------------------------------------
//MODIFIED BY: SHEHRYAR. Offsets from GPIO_Base (SPRS653C.PDF TABLE 5-134)
#define DIR67 0x00000088
#define OUT_DATA67 0x0000008C
#define SET_DATA67 0x00000090
#define CLR_DATA67 0x00000094
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
static void *rxBuf;
static void __iomem *pinmux_base = 0;
static void __iomem *upp_base = 0;
static void __iomem *psc1_base = 0;
static void __iomem *gpio_base = 0;
static DECLARE_WAIT_QUEUE_HEAD(read_queue);
static int32_t read_pending = 0; // changed from static int
//set to '1' when loading this module to use the Digital Loopback (DLB)
//features,e.g:"insmod UPP_driver.ko loopbackMode=1"
static int loopbackMode = 0;
module_param( loopbackMode, int, S_IRUGO);
int EOWI_Count = 0; int UORI_count =0;
///////////////////////////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////INTERRUPT SERVICE ROUTINE//////////////////////////////////////
//////////////////////////////////////SPRUH82A–December 2014 PAGE 1515////////////////////////////////
//SPRUGJ5B.PDF, Section 2.6.4
static irqreturn_t upp_ISR_handler(int irq, void *dev_id)
{
uint32_t regVal, status;
if (pinmux_base == 0)
{
return IRQ_HANDLED;
}
status = ioread32( upp_base + UPIER );
while (status & 0x0000001F ) //0x1F1F is an interrupt bit-mask
{
//
//DMA Channel I (Channel A), Receiving data (We Need A (DMA Ch I ) to Rx Data instead of Tx ; 27th Nov 2014 - 10:38am)
//
if (status & EOLI)
{
//Clear the interrupt. WRITING ZERO to any other bit has NO effect,
//per SPRUH77A.PDF, section 33.3.9.
iowrite32(EOLI, upp_base + UPIER );
//printk(KERN_INFO "DMA: EOLI\n");
//printk(KERN_INFO "DMA:EOLI. UPP_RX_LINE_SIZE[%d] UPP_RX_LINE_OFFSET[%d] UPP_RX_LINE_COUNT[%d] \n", UPP_RX_LINE_SIZE,UPP_RX_LINE_OFFSET,UPP_RX_LINE_COUNT );
//dump_Channel_regs();
}
if (status & EOWI)
{
//Clear the interrupt. WRITING ZERO to any other bit has NO effect,
//per SPRUH77A.PDF, section 33.3.9.
//printk(KERN_INFO "DMA: EOWI\n");
iowrite32(EOWI, upp_base + UPIER );
read_pending = 8192;
wake_up_interruptible(&read_queue);
//add 1 to EOWI counter
EOWI_Count += 1;
// dump_Channel_regs();
}
if (status & ERRI)
{
//Clear the interrupt. WRITING ZERO to any other bit has NO effect,
//per SPRUH77A.PDF, section 33.3.9.
iowrite32(ERRI, upp_base + UPIER );
//dump_Channel_regs();
}
if (status & UORI)
{
//Clear the interrupt. WRITING ZERO to any other bit has NO effect,
//per SPRUH77A.PDF, section 33.3.9.
iowrite32(UORI, upp_base + UPIER );
UORI_count +=1;
//dump_Channel_regs();
}
if (status & DPEI)
{
//Clear the interrupt. WRITING ZERO to any other bit has NO effect,
//per SPRUH77A.PDF, section 33.3.9.
iowrite32(DPEI, upp_base + UPIER );
//dump_Channel_regs();
}
//read again, and process if necessary.
status = ioread32( upp_base + UPIER );
}
//Clear UPEOI to allow future calls to this function.
regVal = ioread32( upp_base + UPEOI);
regVal &= 0xFFFFFF00;
regVal = 0;// End of Interrupt
iowrite32(regVal, upp_base + UPEOI);
return IRQ_HANDLED;
}
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
static void pin_mux_set( int index, unsigned int bits )
{
static DEFINE_SPINLOCK(mux_spin_lock);
unsigned long flags;
unsigned int offset;
if ((index < 0) || (index > 19))
{
printk(KERN_INFO "pin_mux_set:index is out of range.\n");
return;
}
if (!pinmux_base)
{
//SRPUH77A.PDF,Table 11-3
if ((pinmux_base = ioremap(DA8XX_SYSCFG0_BASE, SZ_4K)) == 0)
{
printk(KERN_INFO "pin_mux_set:Cannot fetch pinmux_base.\n");
return;
}
}
offset = 0x120 + (index * 4);
spin_lock_irqsave(&mux_spin_lock, flags);
iowrite32(bits, pinmux_base + offset);
spin_unlock_irqrestore(&mux_spin_lock, flags);
//NOTE: do NOT "iounmap" the pinmux_base pointer, as it is used
// in the ISR_handler.....
}
static void upp_pin_mux_init(void)
{
pin_mux_set( 13, 0x44440000 );
pin_mux_set( 14, 0x44444480 );
pin_mux_set( 15, 0x44444444 );
pin_mux_set( 16, 0x44444444 );
pin_mux_set( 17, 0x44444444 );
pin_mux_set( 18, 0x00444444 );
pin_mux_set( 19, 0x08888800 );
//pin_mux_print() ;
}
//SPRUGJ5B.PDF, Section 2.6.1.2.
static void upp_power_and_clocks( void )
{
/*
* Refer to:
* * Power and Sleep Controller (PSC), Chapter 9 in the TRM(SPRUH77A.PDF)
* * Device Clocking, Chapter 7 (esp Section 7.3.5) in the TRM.
*
*
*/
int regVal;
if (!psc1_base)
{
if ((psc1_base = ioremap(DA850_PSC1_BASE, SZ_4K)) == 0)
{
printk(KERN_INFO "upp_power_and_clocks:Cannot fetch psc1_base.\n");
return;
}
}
regVal = ioread32(psc1_base + PSC_REVID);
//PSC Revision ID should be "44825A00" per SPRUH77A.PDF, section 9.6.1
if (regVal == 0x44825A00)
{
printk( KERN_INFO "PSC_REVID = 0x%08X....OK\n", regVal);
}
else
{
printk( KERN_INFO "********ERROR: PSC_REVID = 0x%08X********\n", regVal);
}
// SPRUH77A.PDF, 9.3.2.1, Table 9-6, 9.6.10
// wait for GOSTAT[0] in PSTAT to clear to 0 ("No transition in progress")
while ( ioread32(psc1_base + PSC_PTSTAT) & 0x00000001 )
;
//
//SPRUH77A.PDF, 9.3.2.2, 9.6.19.
//Set NEXT bit in MDCTL19 to Enable(3h).
regVal = ioread32( psc1_base + PSC1_MDCTL_19 );
regVal |= 0x00000003;
iowrite32(regVal, psc1_base + PSC1_MDCTL_19);
//
//SPRUH77A.PDF, 9.3.2.3, 9.6.9.
//Set the GO[0] bit in PTCMD to 1 to initiate power-domain transition
regVal = ioread32(psc1_base + PSC_PTCMD);
regVal |= 0x00000001;
iowrite32(regVal, psc1_base + PSC_PTCMD);
//
// SPRUH77A.PDF, 9.3.2.4
// Wait for GOSTAT[0] in PTSTAT to clear to 0
while ( ioread32(psc1_base + PSC_PTSTAT) & 0x00000001 )
;
iounmap( psc1_base );
psc1_base = 0;
}
//SPRUGJ5B.PDF, Section 2.6.1.3, 2.6.1.4
static void upp_swrst( void )
{
int32_t reg_val;
if (!upp_base)
{
if ((upp_base = ioremap(DA850_UPP_BASE, SZ_4K)) == 0)
{
printk(KERN_INFO "upp_swrst:Cannot fetch upp_base.\n");
return;
}
}
//Fetch the UPP ID for the sake of sanity....Should be "44231100"
reg_val = ioread32( upp_base + 0 );
if (reg_val == 0x44231100 )
{
printk(KERN_INFO "UPP_UPPID = 0x%08X....OK\n", reg_val);
}
else
{
printk( KERN_INFO "********ERROR: UPP_UPPID = 0x%08X********\n", reg_val);
}
// SPRUH77A.PDF, Section 33.2.7.1.1, Table 33-12.
// clear EN bit of UPPCR to (temporarily) disable the UPP.
reg_val = ioread32( upp_base + UPPCR );
reg_val &= ~(1 << 3); //0xfffffff7;
iowrite32( reg_val, upp_base + UPPCR );
// SPRUH77A.PDF, Section 33.2.7.1.2, Table 33-12.
//poll "DMA Burst" (DB) bit of UPPCR to ensure DMA controller is idle
while ( ioread32( upp_base + UPPCR ) & (1 << 7) )
;
// SPRUH77A.PDF, Section 33.2.7.1.3, Table 33-12.
// assert SWRST bit (bit 4) of UPPCR
reg_val = ioread32( upp_base + UPPCR );
reg_val |= 0x00000010;
iowrite32( reg_val, upp_base + UPPCR );
//
// wait at least 200 clock cycles
// (SPRUGJ5B.PDF, 2.6.1.4)
mdelay( 200 ); // abitrary choice of 200ms
// SPRUH77A.PDF, Section 33.2.7.1.4 --AND--
// SPRUGJ5B.PDF, 2.6.1.4
// clear SWRST bit (bit 4) of UPPCR
reg_val = ioread32( upp_base + UPPCR );
reg_val &= 0xffffffef;
iowrite32( reg_val, upp_base + UPPCR );
}
//SPRUGJ5B.PDF, Section 2.6.1.5
static void upp_config( void )
{
int32_t regVal;
//-------------------------------------------------------------------------
// UPPCTL - UPP Interface Channel Settings....SPRUH77A.PDF, Section 33.3.4.
//
// - DATA and XDATA Pin assignments to Channels A & B:
// Refer to SPRUGJ5B.PDF, Table 3:
//
// ____PHYSICAL_PINS___|____CHANNEL_ASSIGNMENT___
// * DATA[7:0] | A[7:0]
// * DATA[15:8] | B[7:0]
//-------------------------------------------------------------------------
regVal = 0;
regVal |= 1 << 17; // IWA - CHANNEL A 8/16bit MODE: Set Channel A to 16 bit mode
iowrite32( regVal, upp_base + UPCTL );
//-------------------------------------------------------------------------
// UPPICR - signal enable, signal inversion, clk div (tx only), etc.
// SPRUH77A.PDF, Section 33.3.5
//-------------------------------------------------------------------------
regVal = 0; //Channel A: START is active-high
regVal |= 1<<3; //Channel A:STARTA is honored in Rev Mode
regVal |= 1<<4; //Channel A:ENABLEA is honored in Rev Mode
regVal |= 1<<12; //Channel A:(CLKINVA) Signal on rising edge of clock
regVal |= 1<<13; //Channel A:(TRISA) pins are High-impedence while idle
iowrite32( regVal, upp_base + UPICR );
//-------------------------------------------------------------------------
// UPPIVR - Idle Value Register
// SPRUH77A.PDF, Section 33.3.5
//-------------------------------------------------------------------------
regVal = 0;
regVal |= 0xab00; //Channel B Idle Value
regVal |= 0x00cd; //Channel A Idle Value
iowrite32( regVal, upp_base + UPIVR );
//-------------------------------------------------------------------------
// UPTCR - i/o tx thresh (tx only), dma read burst size
//-------------------------------------------------------------------------
regVal = 0x00000003; //DMA Channel I READ-threshold. 256 bytes (max)
iowrite32(regVal, upp_base + UPTCR );
}
//SPRUGJ5B.PDF, Section 2.6.1.6
static void upp_interrupt_enable( void )
{
int32_t regVal, status;
// Register the ISR before enabling the interrupts....
status = request_irq( UPP_INTERRUPT, upp_ISR_handler, 0, "upp_ISR", 0 );
if( status < 0 )
{
return;
}
// clear all interrupts
iowrite32( UPIES_MASK, upp_base + UPIEC );
//------------------------------------------------------------------------
//Dumping Registers again for debugging purpose
//dump_Channel_regs();
//-------------------------------------------------------------------------
//-------------------------------------------------------------------------
// UPIES - Interrupt Enable. Interrupt events will generate a CPU interrupt
//-------------------------------------------------------------------------
// regVal = 0x17; //Enable ALL interrupts (but EOWI) for DMA Channel I
//regVal |= 0x17 << 8; //Enable ALL interrupts (but EOWQ) for DMA Channel Q
regVal = UPIES_MASK;
iowrite32( regVal, upp_base + UPIES );
}
//SPRUGJ5B.PDF, Section 2.6.1.7
static void upp_enable( void )
{
int32_t reg_val;
// set EN bit in UPPCR.
// The EN bit (effectively disabling the UPP peripheral)...
// was cleared in "upp_swrst()" function
reg_val = ioread32( upp_base + UPPCR );
reg_val |= 1 << 3;
iowrite32( reg_val, upp_base + UPPCR );
}
static void upp_disable( void )
{
int32_t reg_val;
reg_val = ioread32( upp_base + UPPCR );
reg_val &= ~(1 << 3); //0xfffffff7;
iowrite32( reg_val, upp_base + UPPCR );
}
////////////////////////////////////////////////////////////////////////////////////////////////////////
//////////////////////////MODIFIED BY: SHEHRYAR ; 25-NOV-2014 4:40pm PST (+5.00 GMT)///////////////////
static void setpin_GPIO (void)
{
int32_t reg_val=0;
if ((gpio_base = ioremap(DA850_GPIO_BASE, SZ_4K)) == 0)
{
return;
}
//reg_val = ioread32(gpio_base + SET_DATA67);
reg_val |= (1<<6); ///Set Pin 6 of Bank 6 GP6P6 to 1 to drive GPIO high
iowrite32(reg_val,gpio_base + SET_DATA67);
}
static void clrpin_GPIO(void)
{
int32_t reg_val=0;
if ((gpio_base = ioremap(DA850_GPIO_BASE, SZ_4K)) == 0)
{
return;
}
//reg_val = ioread32(gpio_base + CLR_DATA67);
/*reg_val |= ~(1<<0);
reg_val |= ~(1<<1);
reg_val |= ~(1<<2);
reg_val |= ~(1<<3);
reg_val |= ~(1<<4);*/
reg_val |= (1<<6); //Set Pin 6 of bank 6 GP6P6 of CLR_DATA67 Register to High to drive GPIO signals low
iowrite32(reg_val,gpio_base + CLR_DATA67);
}
///////Function to set DIR to 1 for GP6P5//////////////////////////////////////////////////////////////
static void Config_GPIO(void)
{
int32_t reg_val;
if ((gpio_base = ioremap(DA850_GPIO_BASE, SZ_4K)) == 0)
{
return;
}
//set dir
reg_val = ioread32(gpio_base + DIR67);
reg_val &= ~(1<<0);
reg_val &= ~(1<<1);
reg_val &= ~(1<<2);
reg_val &= ~(1<<3);
reg_val &= ~(1<<4);
reg_val &= ~(1<<6);
iowrite32(reg_val,gpio_base + DIR67);
printk(KERN_INFO "DIR67 => [0x%08X]\n", reg_val);
//set to high
reg_val = ioread32(gpio_base + SET_DATA67);
reg_val |= (1<<0);
reg_val |= (1<<1);
reg_val |= (1<<2);
reg_val |= (1<<3);
reg_val |= (1<<4);
iowrite32(reg_val,gpio_base + SET_DATA67);
}
//////////////////////////////////////////////////////////////////////////////////////////////////////
//SPRUGJ5B.PDF, Section 2.6.1.8
// Return false on error
static bool upp_mem_alloc( void )
{
//rxBuf2 = kcalloc( 1 , UPP_BUF_SIZE, GFP_KERNEL | GFP_DMA );
rxBuf = kcalloc( 1 , UPP_BUF_SIZE, GFP_KERNEL | GFP_DMA );
if (!rxBuf) //|| (!rxBuf2)
{
return false;
}
return true;
}
static void upp_program_DMA_channelA( void )
{
while ( ioread32( upp_base + UPIS2 ) & 0x00000002 );
//------------------------------------------------------------------------
// Channel A (Rx), (DMA Channel I) //27th Nov 2014 - 11:08 am
//------------------------------------------------------------------------
iowrite32( rxBuf, upp_base + UPID0);
iowrite32( ( (UPP_RX_LINE_COUNT << 16) | UPP_RX_LINE_SIZE ), upp_base + UPID1);
iowrite32( UPP_RX_LINE_OFFSET, upp_base + UPID2);
}
//------------------------------------------------------------------------
// User-mode functions read/write/open/close, etc.
//------------------------------------------------------------------------
int upp_open( struct inode *iPtr, struct file *fPtr )
{
int minor,major;
read_pending = 0;
minor=iminor(iPtr);
major=imajor(iPtr);
printk( KERN_INFO "upp_open: MAJOR(%d), MINOR(%d)\n", major, minor);
upp_disable();
upp_enable();
return 0;
}
////////////////////////////////////////////////////////////READ FUNCTION STARTS HERE!!!!!!////
/*-------------------------------------------------------------------------------------------*/
//int count_missing_data=0;
//static int read_flag =0;
ssize_t upp_read( struct file *fPtr, char __user *buffer, size_t size, loff_t *offset )
{
int readBytes = 0;
int retVal=0;
void *bPtr = (void *)buffer;
if (!bPtr) {return -1; printk(KERN_INFO "ERROR: bPtr not initilized\n");}
printk(KERN_INFO "Reading %d Bytes ...\n",size );
while (readBytes<size)
{
//read_flag+=1;
read_pending = 0;
//mdelay(10);
memset(rxBuf,255,8192);
//memset(rxBuf2,128,8192);
upp_program_DMA_channelA();
clrpin_GPIO();
wait_event_interruptible( read_queue, read_pending > 0 );
while ( ioread32( upp_base + UPIS2 ) & 0x00000001 )
{
printk (KERN_INFO "DMA IS STILL ACTIVE! \n");
}
setpin_GPIO(); // Set High
retVal = copy_to_user(bPtr,rxBuf,read_pending);
if(retVal)
{
printk(KERN_INFO "ERROR: Copy to user failed!\n");
return readBytes;
}
readBytes += read_pending;
bPtr += 8192;
} //end of while loop
printk(KERN_INFO"\nRead [%d] Bytes.\n",readBytes);
printk(KERN_INFO"END OF WINDOW (EOWI) INTERRUPT Count = [%d]\n", EOWI_Count);
printk(KERN_INFO"DMA UNDERRUN OR OVERFLOW (UORI) Interrupt Count = %d\n", UORI_count);
return readBytes;
//read_flag += 1;
//mdelay(9);
}
//////////////////////////////////////////////READ() FUNCTION ENDS HERE!!!!!!///////////////////////////
/*---------------------------------------------------------------------------------------------------*/
int upp_release( struct inode *iPtr, struct file *fPtr )
{
return 0;
printk(KERN_INFO "upp_release completed.\n");
}
static struct cdev *UPP_cdev;
static dev_t UPP_MajorMinorNumbers;
struct file_operations upp_fops = {
.owner = THIS_MODULE,
//.llseek = no_llseek,
//.poll = upp_poll,
.read = upp_read,
//.write = upp_write,
//.ioctl = upp_ioctl,
.open = upp_open,
//.release = upp_release,
};
/*
* Return ZERO on success.
*
*/
static int __init upp_init(void)
{
int retVal;
//printk(KERN_INFO "Entering upp_init().\n");
//SPRUGJ5B.PDF, Section 2.6.1.8
// I'm doing this out-of-order...If the mem-allocation fails,
// there is no sense in doing anything else, except to bail early...
if (upp_mem_alloc() == false)
{
printk(KERN_INFO "******ERROR: Could not allocate buffers. Bailing!******\n");
return -1;
}
//--------------------------------------------------------
//--------------------------------------------------------
//SPRUGJ5B.PDF, Section 2.6.1.1
upp_pin_mux_init();
printk(KERN_INFO "upp_pin_mux_init()...OK.\n");
//SPRUGJ5B.PDF, Section 2.6.1.2.
upp_power_and_clocks();
printk(KERN_INFO "upp_power_and_clocks()...OK.\n");
//SPRUGJ5B.PDF, Section 2.6.1.3, 2.6.1.4
upp_swrst();
printk(KERN_INFO "upp_swrst()...OK.\n");
//SPRUGJ5B.PDF, Section 2.6.1.5
upp_config();
printk(KERN_INFO "upp_config()...OK.\n");
//SPRUGJ5B.PDF, Section 2.6.1.6
upp_interrupt_enable();
printk(KERN_INFO "upp_interrupt_enable()...OK.\n");
//SPRUGJ5B.PDF, Section 2.6.1.7
upp_enable();
printk(KERN_INFO "upp_enable()...OK.\n");
//---------------------------SETTING GPIOS----------------
Config_GPIO();
//--------------------------------------------------------
setpin_GPIO(); // Set High
UPP_MajorMinorNumbers = MKDEV( 0, 0);
if ( (retVal = alloc_chrdev_region( &UPP_MajorMinorNumbers, 0, 1, "UPP" )) < 0)
{
printk(KERN_INFO "ERROR: Major/Minor number allocation failed.\n");
return retVal;
}
UPP_cdev = cdev_alloc();
UPP_cdev->ops = &upp_fops;
UPP_cdev->owner = THIS_MODULE;
if (cdev_add( UPP_cdev, UPP_MajorMinorNumbers, 1) != 0)
{
printk(KERN_INFO "ERROR: UPP driver NOT loaded. CDEV registration failed.\n");
}
else
{
printk(KERN_INFO "\nUPP Major: %d , Minor: %d \n", MAJOR(UPP_MajorMinorNumbers), MINOR(UPP_MajorMinorNumbers));
}
printk("UPP driver (1.8.0 - 5/January/2015) succesfully installed.\n");
return 0;
}
/*
*
*
*
*/
static void __exit upp_exit(void)
{
uint32_t regVal;
printk(KERN_INFO "Exiting..Initializing upp_exit call......\n");
// SPRUH77A.PDF, Section 33.2.7.1.1, Table 33-12.
// clear EN bit of UPPCR to disable the UPP.
regVal = ioread32( upp_base + UPPCR );
regVal &= 0xfffffff7;
iowrite32( regVal, upp_base + UPPCR );
free_irq( UPP_INTERRUPT, 0);
if (rxBuf)
{
kfree( rxBuf );
rxBuf = 0;
}
/*if (rxBuf2)
{
kfree(rxBuf2);
rxBuf2=0;
}*/
cdev_del( UPP_cdev );
unregister_chrdev_region( UPP_MajorMinorNumbers, 1);
clrpin_GPIO(); //added 2-Dec-2014
printk(KERN_INFO "UPP driver unloaded (Successful Exit). \n");
}
MODULE_AUTHOR("Ali Shehryar & Umair Ali");
MODULE_DESCRIPTION("OMAP-L138/AM-1808 UPP bus driver");
MODULE_LICENSE("GPL");
module_init(upp_init)
module_exit(upp_exit)
With the code, I have made a tester application that writes a .264 based output file consisting of data acquired from my custom board which I call upp_tester.cpp :
#include <stdio.h>
#include <unistd.h>
#include <stdlib.h>
#include <fcntl.h>
#include <string.h>
#include <errno.h>
#include <string.h>
int main(int argc, char **argv )
{
int count = 0;
const int BytesToRead = 8192*4; //32kB
int bytesRead = -1;
int bytesWritten = -1 ;
int upp_fd,out_fd;
char readBuff[BytesToRead] = {0,};
int k = 0;
readBuff[BytesToRead]={'\0'};
upp_fd = open( "/dev/upp", O_RDWR);
out_fd = open( "output_upp.264", O_RDWR|O_CREAT);
for(count = 0; count<100; count++)
{
if (upp_fd == -1)
{
fprintf( stderr , "OPEN failed [%d] - UPP\n" , errno );
if (errno == 2)
{
fprintf( stderr , "NOTE! Check that /dev/upp actually exists, and has the right permissions \n");
}
return errno;
}
if (out_fd == -1)
{
fprintf( stderr , "OPEN /output_upp failed [%d] - Out.dat\n" , errno );
}
//fprintf( stderr , "UPP TESTER Version 1.0.17\n\n" );
for (k=0;k<32;k++)
{
bytesRead = read( upp_fd, readBuff, sizeof (readBuff));
fprintf( stderr , "READ [%d] bytes out of [%d] bytes\n" , bytesRead , sizeof(readBuff) );
bytesWritten = write( out_fd, readBuff, bytesRead );
fprintf( stderr , "WROTE [%d] bytes out of [%d] bytes\n" , bytesWritten , sizeof(readBuff) );
}
}
close(upp_fd);
close(out_fd);
return 0;
}
Now when I explore the output file, I see that a lot of bytes are missing which I usually set to 255 using memset. This is because the core I have programmed for my dsp processor for the tester file is set to throw fixed data from 0-99. What could be causing this problem. I am a total newbie to device drivers and kernel level programming so any help would be deeply appreciated.
In case you would like to submit the driver to upstream (which actually a right way to go), you probably may contact with TI guys who are working with DaVinci boards. I assume you already googled the link DaVinci Wiki.
Regarding to your driver it's hard to check due to its code style. Moreover you may check modern kernel APIs for stuff you are trying to program manually (voltage regulators, clocks, pin control, and so on). For many basic devices there are already drivers and setup. Also you have to describe you board configuration in device tree. Usually it means to create an additional (to the common) piece of configuration and put it under arch/arm/boot/dts/. There you may find da850 predefined data bases.