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cec87e38 PP |
1 | /* |
2 | * Parallel port to Walkera WK-0701 TX joystick | |
3 | * | |
4 | * Copyright (c) 2008 Peter Popovec | |
5 | * | |
6 | * More about driver: <file:Documentation/input/walkera0701.txt> | |
7 | */ | |
8 | ||
9 | /* | |
10 | * This program is free software; you can redistribute it and/or modify it | |
11 | * under the terms of the GNU General Public License version 2 as published by | |
12 | * the Free Software Foundation. | |
13 | */ | |
14 | ||
e0dba55e | 15 | #define pr_fmt(fmt) KBUILD_MODNAME ": " fmt |
cec87e38 PP |
16 | |
17 | #define RESERVE 20000 | |
18 | #define SYNC_PULSE 1306000 | |
19 | #define BIN0_PULSE 288000 | |
20 | #define BIN1_PULSE 438000 | |
21 | ||
22 | #define ANALOG_MIN_PULSE 318000 | |
23 | #define ANALOG_MAX_PULSE 878000 | |
24 | #define ANALOG_DELTA 80000 | |
25 | ||
26 | #define BIN_SAMPLE ((BIN0_PULSE + BIN1_PULSE) / 2) | |
27 | ||
28 | #define NO_SYNC 25 | |
29 | ||
30 | #include <linux/kernel.h> | |
31 | #include <linux/module.h> | |
32 | #include <linux/parport.h> | |
33 | #include <linux/input.h> | |
34 | #include <linux/hrtimer.h> | |
35 | ||
36 | MODULE_AUTHOR("Peter Popovec <popovec@fei.tuke.sk>"); | |
37 | MODULE_DESCRIPTION("Walkera WK-0701 TX as joystick"); | |
38 | MODULE_LICENSE("GPL"); | |
39 | ||
40 | static unsigned int walkera0701_pp_no; | |
41 | module_param_named(port, walkera0701_pp_no, int, 0); | |
42 | MODULE_PARM_DESC(port, | |
43 | "Parallel port adapter for Walkera WK-0701 TX (default is 0)"); | |
44 | ||
45 | /* | |
46 | * For now, only one device is supported, if somebody need more devices, code | |
47 | * can be expanded, one struct walkera_dev per device must be allocated and | |
48 | * set up by walkera0701_connect (release of device by walkera0701_disconnect) | |
49 | */ | |
50 | ||
51 | struct walkera_dev { | |
52 | unsigned char buf[25]; | |
53 | u64 irq_time, irq_lasttime; | |
54 | int counter; | |
55 | int ack; | |
56 | ||
57 | struct input_dev *input_dev; | |
58 | struct hrtimer timer; | |
59 | ||
60 | struct parport *parport; | |
61 | struct pardevice *pardevice; | |
62 | }; | |
63 | ||
64 | static struct walkera_dev w_dev; | |
65 | ||
66 | static inline void walkera0701_parse_frame(struct walkera_dev *w) | |
67 | { | |
68 | int i; | |
69 | int val1, val2, val3, val4, val5, val6, val7, val8; | |
e0dba55e | 70 | int magic, magic_bit; |
cec87e38 PP |
71 | int crc1, crc2; |
72 | ||
73 | for (crc1 = crc2 = i = 0; i < 10; i++) { | |
74 | crc1 += w->buf[i] & 7; | |
75 | crc2 += (w->buf[i] & 8) >> 3; | |
76 | } | |
77 | if ((w->buf[10] & 7) != (crc1 & 7)) | |
78 | return; | |
79 | if (((w->buf[10] & 8) >> 3) != (((crc1 >> 3) + crc2) & 1)) | |
80 | return; | |
81 | for (crc1 = crc2 = 0, i = 11; i < 23; i++) { | |
82 | crc1 += w->buf[i] & 7; | |
83 | crc2 += (w->buf[i] & 8) >> 3; | |
84 | } | |
85 | if ((w->buf[23] & 7) != (crc1 & 7)) | |
86 | return; | |
87 | if (((w->buf[23] & 8) >> 3) != (((crc1 >> 3) + crc2) & 1)) | |
88 | return; | |
89 | val1 = ((w->buf[0] & 7) * 256 + w->buf[1] * 16 + w->buf[2]) >> 2; | |
90 | val1 *= ((w->buf[0] >> 2) & 2) - 1; /* sign */ | |
91 | val2 = (w->buf[2] & 1) << 8 | (w->buf[3] << 4) | w->buf[4]; | |
92 | val2 *= (w->buf[2] & 2) - 1; /* sign */ | |
93 | val3 = ((w->buf[5] & 7) * 256 + w->buf[6] * 16 + w->buf[7]) >> 2; | |
94 | val3 *= ((w->buf[5] >> 2) & 2) - 1; /* sign */ | |
95 | val4 = (w->buf[7] & 1) << 8 | (w->buf[8] << 4) | w->buf[9]; | |
96 | val4 *= (w->buf[7] & 2) - 1; /* sign */ | |
97 | val5 = ((w->buf[11] & 7) * 256 + w->buf[12] * 16 + w->buf[13]) >> 2; | |
98 | val5 *= ((w->buf[11] >> 2) & 2) - 1; /* sign */ | |
99 | val6 = (w->buf[13] & 1) << 8 | (w->buf[14] << 4) | w->buf[15]; | |
100 | val6 *= (w->buf[13] & 2) - 1; /* sign */ | |
101 | val7 = ((w->buf[16] & 7) * 256 + w->buf[17] * 16 + w->buf[18]) >> 2; | |
102 | val7 *= ((w->buf[16] >> 2) & 2) - 1; /*sign */ | |
103 | val8 = (w->buf[18] & 1) << 8 | (w->buf[19] << 4) | w->buf[20]; | |
104 | val8 *= (w->buf[18] & 2) - 1; /*sign */ | |
105 | ||
e0dba55e DT |
106 | magic = (w->buf[21] << 4) | w->buf[22]; |
107 | magic_bit = (w->buf[24] & 8) >> 3; | |
108 | pr_debug("%4d %4d %4d %4d %4d %4d %4d %4d (magic %2x %d)\n", | |
109 | val1, val2, val3, val4, val5, val6, val7, val8, | |
110 | magic, magic_bit); | |
111 | ||
cec87e38 PP |
112 | input_report_abs(w->input_dev, ABS_X, val2); |
113 | input_report_abs(w->input_dev, ABS_Y, val1); | |
114 | input_report_abs(w->input_dev, ABS_Z, val6); | |
115 | input_report_abs(w->input_dev, ABS_THROTTLE, val3); | |
116 | input_report_abs(w->input_dev, ABS_RUDDER, val4); | |
117 | input_report_abs(w->input_dev, ABS_MISC, val7); | |
118 | input_report_key(w->input_dev, BTN_GEAR_DOWN, val5 > 0); | |
119 | } | |
120 | ||
121 | static inline int read_ack(struct pardevice *p) | |
122 | { | |
123 | return parport_read_status(p->port) & 0x40; | |
124 | } | |
125 | ||
126 | /* falling edge, prepare to BIN value calculation */ | |
127 | static void walkera0701_irq_handler(void *handler_data) | |
128 | { | |
129 | u64 pulse_time; | |
130 | struct walkera_dev *w = handler_data; | |
131 | ||
132 | w->irq_time = ktime_to_ns(ktime_get()); | |
133 | pulse_time = w->irq_time - w->irq_lasttime; | |
134 | w->irq_lasttime = w->irq_time; | |
135 | ||
136 | /* cancel timer, if in handler or active do resync */ | |
137 | if (unlikely(0 != hrtimer_try_to_cancel(&w->timer))) { | |
138 | w->counter = NO_SYNC; | |
139 | return; | |
140 | } | |
141 | ||
142 | if (w->counter < NO_SYNC) { | |
143 | if (w->ack) { | |
144 | pulse_time -= BIN1_PULSE; | |
145 | w->buf[w->counter] = 8; | |
146 | } else { | |
147 | pulse_time -= BIN0_PULSE; | |
148 | w->buf[w->counter] = 0; | |
149 | } | |
150 | if (w->counter == 24) { /* full frame */ | |
151 | walkera0701_parse_frame(w); | |
152 | w->counter = NO_SYNC; | |
153 | if (abs(pulse_time - SYNC_PULSE) < RESERVE) /* new frame sync */ | |
154 | w->counter = 0; | |
155 | } else { | |
156 | if ((pulse_time > (ANALOG_MIN_PULSE - RESERVE) | |
157 | && (pulse_time < (ANALOG_MAX_PULSE + RESERVE)))) { | |
158 | pulse_time -= (ANALOG_MIN_PULSE - RESERVE); | |
159 | pulse_time = (u32) pulse_time / ANALOG_DELTA; /* overtiping is safe, pulsetime < s32.. */ | |
160 | w->buf[w->counter++] |= (pulse_time & 7); | |
161 | } else | |
162 | w->counter = NO_SYNC; | |
163 | } | |
164 | } else if (abs(pulse_time - SYNC_PULSE - BIN0_PULSE) < | |
165 | RESERVE + BIN1_PULSE - BIN0_PULSE) /* frame sync .. */ | |
166 | w->counter = 0; | |
167 | ||
168 | hrtimer_start(&w->timer, ktime_set(0, BIN_SAMPLE), HRTIMER_MODE_REL); | |
169 | } | |
170 | ||
171 | static enum hrtimer_restart timer_handler(struct hrtimer | |
172 | *handle) | |
173 | { | |
174 | struct walkera_dev *w; | |
175 | ||
176 | w = container_of(handle, struct walkera_dev, timer); | |
177 | w->ack = read_ack(w->pardevice); | |
178 | ||
179 | return HRTIMER_NORESTART; | |
180 | } | |
181 | ||
182 | static int walkera0701_open(struct input_dev *dev) | |
183 | { | |
184 | struct walkera_dev *w = input_get_drvdata(dev); | |
185 | ||
cb696e7c DT |
186 | if (parport_claim(w->pardevice)) |
187 | return -EBUSY; | |
188 | ||
cec87e38 PP |
189 | parport_enable_irq(w->parport); |
190 | return 0; | |
191 | } | |
192 | ||
193 | static void walkera0701_close(struct input_dev *dev) | |
194 | { | |
195 | struct walkera_dev *w = input_get_drvdata(dev); | |
196 | ||
197 | parport_disable_irq(w->parport); | |
a455e298 | 198 | hrtimer_cancel(&w->timer); |
cb696e7c DT |
199 | |
200 | parport_release(w->pardevice); | |
cec87e38 PP |
201 | } |
202 | ||
203 | static int walkera0701_connect(struct walkera_dev *w, int parport) | |
204 | { | |
ea05ae07 | 205 | int error; |
cec87e38 PP |
206 | |
207 | w->parport = parport_find_number(parport); | |
ea05ae07 DT |
208 | if (!w->parport) { |
209 | pr_err("parport %d does not exist\n", parport); | |
cec87e38 | 210 | return -ENODEV; |
ea05ae07 | 211 | } |
cec87e38 PP |
212 | |
213 | if (w->parport->irq == -1) { | |
e0dba55e DT |
214 | pr_err("parport %d does not have interrupt assigned\n", |
215 | parport); | |
ea05ae07 DT |
216 | error = -EINVAL; |
217 | goto err_put_parport; | |
cec87e38 PP |
218 | } |
219 | ||
cec87e38 PP |
220 | w->pardevice = parport_register_device(w->parport, "walkera0701", |
221 | NULL, NULL, walkera0701_irq_handler, | |
222 | PARPORT_DEV_EXCL, w); | |
ea05ae07 DT |
223 | if (!w->pardevice) { |
224 | pr_err("failed to register parport device\n"); | |
225 | error = -EIO; | |
226 | goto err_put_parport; | |
227 | } | |
cec87e38 | 228 | |
ea05ae07 DT |
229 | if (parport_negotiate(w->pardevice->port, IEEE1284_MODE_COMPAT)) { |
230 | pr_err("failed to negotiate parport mode\n"); | |
231 | error = -EIO; | |
232 | goto err_unregister_device; | |
233 | } | |
cec87e38 | 234 | |
a455e298 PP |
235 | hrtimer_init(&w->timer, CLOCK_MONOTONIC, HRTIMER_MODE_REL); |
236 | w->timer.function = timer_handler; | |
237 | ||
cec87e38 | 238 | w->input_dev = input_allocate_device(); |
ea05ae07 DT |
239 | if (!w->input_dev) { |
240 | pr_err("failed to allocate input device\n"); | |
241 | error = -ENOMEM; | |
cb696e7c | 242 | goto err_unregister_device; |
ea05ae07 | 243 | } |
cec87e38 PP |
244 | |
245 | input_set_drvdata(w->input_dev, w); | |
246 | w->input_dev->name = "Walkera WK-0701 TX"; | |
247 | w->input_dev->phys = w->parport->name; | |
248 | w->input_dev->id.bustype = BUS_PARPORT; | |
249 | ||
250 | /* TODO what id vendor/product/version ? */ | |
251 | w->input_dev->id.vendor = 0x0001; | |
252 | w->input_dev->id.product = 0x0001; | |
253 | w->input_dev->id.version = 0x0100; | |
1932c8a0 | 254 | w->input_dev->dev.parent = w->parport->dev; |
cec87e38 PP |
255 | w->input_dev->open = walkera0701_open; |
256 | w->input_dev->close = walkera0701_close; | |
257 | ||
258 | w->input_dev->evbit[0] = BIT(EV_ABS) | BIT_MASK(EV_KEY); | |
259 | w->input_dev->keybit[BIT_WORD(BTN_GEAR_DOWN)] = BIT_MASK(BTN_GEAR_DOWN); | |
260 | ||
261 | input_set_abs_params(w->input_dev, ABS_X, -512, 512, 0, 0); | |
262 | input_set_abs_params(w->input_dev, ABS_Y, -512, 512, 0, 0); | |
263 | input_set_abs_params(w->input_dev, ABS_Z, -512, 512, 0, 0); | |
264 | input_set_abs_params(w->input_dev, ABS_THROTTLE, -512, 512, 0, 0); | |
265 | input_set_abs_params(w->input_dev, ABS_RUDDER, -512, 512, 0, 0); | |
266 | input_set_abs_params(w->input_dev, ABS_MISC, -512, 512, 0, 0); | |
267 | ||
ea05ae07 DT |
268 | error = input_register_device(w->input_dev); |
269 | if (error) { | |
270 | pr_err("failed to register input device\n"); | |
271 | goto err_free_input_dev; | |
272 | } | |
cec87e38 | 273 | |
cec87e38 PP |
274 | return 0; |
275 | ||
ea05ae07 | 276 | err_free_input_dev: |
cec87e38 | 277 | input_free_device(w->input_dev); |
ea05ae07 | 278 | err_unregister_device: |
cec87e38 | 279 | parport_unregister_device(w->pardevice); |
ea05ae07 | 280 | err_put_parport: |
cec87e38 | 281 | parport_put_port(w->parport); |
ea05ae07 | 282 | return error; |
cec87e38 PP |
283 | } |
284 | ||
285 | static void walkera0701_disconnect(struct walkera_dev *w) | |
286 | { | |
cec87e38 | 287 | input_unregister_device(w->input_dev); |
cec87e38 PP |
288 | parport_unregister_device(w->pardevice); |
289 | parport_put_port(w->parport); | |
290 | } | |
291 | ||
292 | static int __init walkera0701_init(void) | |
293 | { | |
294 | return walkera0701_connect(&w_dev, walkera0701_pp_no); | |
295 | } | |
296 | ||
297 | static void __exit walkera0701_exit(void) | |
298 | { | |
299 | walkera0701_disconnect(&w_dev); | |
300 | } | |
301 | ||
302 | module_init(walkera0701_init); | |
303 | module_exit(walkera0701_exit); |