The following patch is a driver for a laser scanning device that scans terrain
and communicates with the system over the parallel port. This deice is used
on both the Red Team Racing DAPA Grand Challenge robot entrees.
This driver is a port from the 2.4 kernel version that was used recently to the
2.6.17.1 kernel. I am posting it for community review and input.
Thanks
--mgross
Signed-off-by: Mark Gross <[email protected]>
diff -urN -X linux-2.6.17.1/Documentation/dontdiff linux-2.6.17.1/drivers/char/Kconfig riport_current/linux-2.6.17.1/drivers/char/Kconfig
--- linux-2.6.17.1/drivers/char/Kconfig 2006-06-20 02:31:55.000000000 -0700
+++ riport_current/linux-2.6.17.1/drivers/char/Kconfig 2006-06-21 21:14:12.000000000 -0700
@@ -1034,5 +1034,18 @@
sysfs directory, /sys/devices/platform/telco_clock, with a number of
files for controlling the behavior of this hardware.
+
+config RIPORT
+ tristate "Riport driver to Riegl systems LADAR terrain scanner"
+ depends on EXPERIMENTAL
+ default n
+ help
+ The riport driver talks through the parallel port to a Riegl systems
+ LADAR terrain scanner http://www.riegl.com/. This is the scanner
+ that was used by http://www.redteamracing.org/ H1ghlander and
+ Sandstorm robots. Its the device in the big round thing on top of
+ the hummers. This driver is a 2.6 port of the driver used in those
+ robots.
+
endmenu
diff -urN -X linux-2.6.17.1/Documentation/dontdiff linux-2.6.17.1/drivers/char/Makefile riport_current/linux-2.6.17.1/drivers/char/Makefile
--- linux-2.6.17.1/drivers/char/Makefile 2006-06-20 02:31:55.000000000 -0700
+++ riport_current/linux-2.6.17.1/drivers/char/Makefile 2006-06-21 20:48:02.000000000 -0700
@@ -86,6 +86,7 @@
obj-$(CONFIG_GPIO_VR41XX) += vr41xx_giu.o
obj-$(CONFIG_TANBAC_TB0219) += tb0219.o
obj-$(CONFIG_TELCLOCK) += tlclk.o
+obj-$(CONFIG_RIPORT) += riport.o
obj-$(CONFIG_WATCHDOG) += watchdog/
obj-$(CONFIG_MWAVE) += mwave/
diff -urN -X linux-2.6.17.1/Documentation/dontdiff linux-2.6.17.1/drivers/char/riport.c riport_current/linux-2.6.17.1/drivers/char/riport.c
--- linux-2.6.17.1/drivers/char/riport.c 1969-12-31 16:00:00.000000000 -0800
+++ riport_current/linux-2.6.17.1/drivers/char/riport.c 2006-06-21 21:23:48.000000000 -0700
@@ -0,0 +1,678 @@
+/*
+ * riport.o
+ * Linux device driver to access Riegl LMS scanner units via the parallel port
+ *
+ * Copyright (C) 2000 Roland Schwarz
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * The author can be reached by email: [email protected]
+ */
+
+/*
+ * 10.07.2000 Tested for use with Kernel >= 2.2
+ * 14.03.2000 First working version
+ * 10.02.2000 Start of work
+ * 21.06.2006 port to 2.6 kernel [email protected].
+ */
+
+#define MAX_RIPORT_DEVICES 2
+
+// default settings
+#define RIPORT_IO 0x378
+#define RIPORT_IRQ 7
+#define RIPORT_SIZE 4000
+
+// standard and ECP port offsets
+#define ECP_OFFSET 0x400
+#define ECR_EXT 2
+#define DCR_BASE 2
+#define FIFO_EXT 0
+
+// bit definitions for registers
+#define ECR_SPP_MODE 0x00
+#define ECR_ERRINT_DISABLED 0x10
+#define ECR_SERVICE_INTERRUPT 0x04
+#define ECR_BYTE_MODE 0x20
+#define ECR_ECP_MODE 0x60
+#define DCR_NOT_REVERSE_REQUEST 0x04
+#define DCR_NOT_1284_ACTIVE 0x08
+#define DCR_DIRECTION 0x20
+#define DCR_SELECT_IN 0x08
+#define ECR_FIFO_EMPTY 0x01
+
+#include <linux/module.h>
+#include <linux/init.h>
+#include <linux/fs.h>
+#include <linux/ioport.h>
+#include <linux/errno.h>
+#include <linux/slab.h>
+#include <linux/poll.h>
+#include <linux/wait.h>
+#include <linux/time.h>
+
+#include <linux/spinlock.h>
+#include <linux/interrupt.h>
+#include <linux/device.h>
+
+#include <asm/uaccess.h>
+#include <asm/io.h>
+
+#define RIPORT_DEBUG
+
+#undef PDEBUG
+#ifdef RIPORT_DEBUG
+# define PDEBUG(fmt, args...) printk( KERN_DEBUG "riport: " fmt, ## args)
+#else /* */
+# define PDEBUG(fmt, args...)
+#endif /* */
+
+/*----------------------------------------------------------------------------*/
+
+#define RPINIT 0
+#define RPREAD_HEADER 1
+#define RPSYNC 2
+#define RPREAD 3
+#define RPDUMP_TIMESTAMP 4
+struct devriport {
+ int io;
+ int io_ext;
+ int irq;
+ int dma;
+ int size; /* buffer size */
+ unsigned char *pbuf; /* pointer to the start of the memory that
+ stores scans from the riegl */
+ unsigned char *pbuf_top;/* pointer to the end of pbuf (see above) */
+ unsigned char *pin; /* pointer to the end of new data */
+ unsigned char *pout; /* pointer to the start of new data (end of
+ old/read data) */
+ wait_queue_head_t qwait;
+ struct inode *pinode;
+ struct file *pfile;
+ int usage;
+ int irqinuse;
+ int readState;
+ short syncWord;
+ int numBytesThisState;
+ int bytesToRead;
+ char buf[4];
+ struct timeval timeStamp;
+
+ spinlock_t lock;
+};
+
+struct devriport *devriport_init(int major, int minor, int io, int irq,
+ int dma, int size, int *presult);
+void devriport_cleanup(struct devriport *this);
+int devriport_open(struct devriport *this);
+int devriport_release(struct devriport *this);
+int devriport_read(struct devriport *this, char *pbuf, int length);
+unsigned int devriport_poll(struct devriport *this,
+ struct poll_table_struct *ptable);
+void devriport_irq(struct devriport *this, int irq, struct pt_regs *regs);
+
+irqreturn_t devriport_irq_wrap(int irq, void *pv, struct pt_regs *pr)
+{
+ devriport_irq(pv, irq, pr);
+ return IRQ_HANDLED;
+}
+
+void devriport_rx(struct devriport *this);
+
+struct devriport *devriport_init(int major, int minor, int io, int irq,
+ int dma, int size, int *presult)
+{
+ struct devriport *this;
+
+ *presult = 0;
+ this = kmalloc(sizeof(struct devriport), GFP_KERNEL);
+ if (!this) {
+ *presult = -ENOMEM;
+ goto fail_memory;
+ }
+
+ if (!request_region(io, 3, "riport")) {
+ PDEBUG("request_region 0x%X of 3 bytes fails \n", io);
+ *presult = -EBUSY;
+ goto fail_io;
+ }
+ if (!request_region(io + ECP_OFFSET, 3, "riport")) {
+ release_region(io,3);
+
+ PDEBUG("request_region 0x%X of 3 bytes fails \n", io + ECP_OFFSET );
+ *presult = -EBUSY;
+ goto fail_io;
+ }
+ this->io = io;
+ this->io_ext = io + ECP_OFFSET;
+ this->irq = irq;
+ this->dma = dma;
+ this->size = size;
+ this->pinode = NULL;
+ this->pfile = NULL;
+ this->usage = 0;
+ this->readState = RPINIT;
+ this->syncWord = 0;
+ this->bytesToRead = 0;
+ this->numBytesThisState = 0;
+ init_waitqueue_head(&this->qwait);
+
+ this->irqinuse = 0;
+
+ spin_lock_init(&this->lock);
+
+ /* test if ECP port (required) */
+ outb(0x34, this->io_ext + ECR_EXT);
+ if (0x35 != inb(this->io_ext + ECR_EXT)) {
+ *presult = -ENXIO;
+ goto fail_dev;
+ }
+ printk(KERN_NOTICE
+ "ecp: found at io=0x%x irq=%d major=%d minor=%d size=%d\n",
+ io, irq, major, minor, size);
+ return this;
+
+fail_dev:
+ PDEBUG("fail_dev \n");
+ release_region(io + ECP_OFFSET,3);
+ release_region(io,3);
+fail_io:
+ PDEBUG("fail_io \n");
+ kfree(this);
+
+fail_memory:
+ return NULL;
+
+}
+
+void devriport_cleanup(struct devriport *this)
+{
+ release_region(this->io + ECP_OFFSET, 3);
+ release_region(this->io, 3);
+
+ kfree(this);
+}
+
+int devriport_open(struct devriport *this)
+{
+ int result;
+
+ if (this->usage)
+ return -EBUSY;
+
+ result =
+ request_irq(this->irq, devriport_irq_wrap, SA_INTERRUPT, "riport",
+ this);
+ if (result) {
+ PDEBUG("request_irq returns %d \n", result);
+ goto fail_irq;
+ }
+
+ this->irqinuse = 1;
+
+ this->pbuf = kmalloc(this->size, GFP_KERNEL);
+ if (!this->pbuf)
+ result = -ENOMEM;
+ if (result)
+ goto fail_memory;
+
+ this->pbuf_top = this->pbuf + this->size - 1;
+
+ this->pin = this->pbuf;
+ this->pout = this->pbuf;
+
+ /* make the driver search for a sync byte. Needs a valid header to find
+ * the sync */
+ this->readState = RPINIT;
+ this->syncWord = 0;
+ this->bytesToRead = 0;
+ this->numBytesThisState = 0;
+
+ /* set up ECP port */
+
+ /* switch to compatibility mode */
+ outb(ECR_SPP_MODE | ECR_ERRINT_DISABLED | ECR_SERVICE_INTERRUPT,
+ this->io_ext + ECR_EXT);
+ outb(DCR_NOT_REVERSE_REQUEST | DCR_NOT_1284_ACTIVE,
+ this->io + DCR_BASE);
+
+ /* switch to reverse direction & disable IRQ'S */
+ outb(ECR_BYTE_MODE | ECR_ERRINT_DISABLED | ECR_SERVICE_INTERRUPT,
+ this->io_ext + ECR_EXT);
+ outb(DCR_DIRECTION | DCR_NOT_REVERSE_REQUEST, this->io + DCR_BASE);
+ outb(ECR_ECP_MODE | ECR_ERRINT_DISABLED | ECR_SERVICE_INTERRUPT,
+ this->io_ext + ECR_EXT);
+ outb(DCR_DIRECTION, this->io + DCR_BASE);
+
+ this->usage++;
+ WARN_ON(this->usage > 1);
+ PDEBUG("open\n");
+
+ /* do an initial read from the riegl -- reads the header */
+ devriport_rx(this);
+ return 0;
+fail_memory:
+ this->irqinuse = 0;
+ free_irq(this->irq, this);
+fail_irq:
+ return result;
+}
+
+int devriport_release(struct devriport *this)
+{
+ this->irqinuse = 0;
+
+ /* switch to compatibility mode */
+ outb(ECR_SPP_MODE | ECR_ERRINT_DISABLED | ECR_SERVICE_INTERRUPT,
+ this->io_ext + ECR_EXT);
+ outb(DCR_NOT_REVERSE_REQUEST | DCR_SELECT_IN, this->io + DCR_BASE);
+
+ free_irq(this->irq, this);
+ kfree(this->pbuf);
+
+ this->usage--;
+ WARN_ON(this->usage < 0);
+ PDEBUG("release\n");
+ return 0;
+}
+
+
+int devriport_read(struct devriport *this, char *pbuf, int length)
+{
+ DECLARE_WAITQUEUE(wait, current);
+ int retval;
+ int length0, length1;
+ int count;
+
+ add_wait_queue(&this->qwait, &wait);
+
+ retval = 0;
+ current->state = TASK_INTERRUPTIBLE;
+
+ while (this->pin == this->pout) {
+
+ /* if nonblocking, return with EAGAIN (to tell the caller to
+ * try again) */
+ if (this->pfile->f_flags & O_NONBLOCK) {
+ printk("EAGAIN Error\n");
+ retval = -EAGAIN;
+ break;
+ }
+
+ schedule();
+
+ if (signal_pending(current)) {
+ retval = -ERESTARTSYS;
+ break;
+ }
+ }
+
+ current->state = TASK_RUNNING;
+ remove_wait_queue(&this->qwait, &wait);
+
+ if (retval) {
+ return retval;
+ }
+ length0 = this->pin - this->pout;
+
+ /* the buffer is circular, so pin can be less than pout, if this is the
+ * case read from pout and wrap around */
+ if (length0 < 0) {
+ length0 += this->size;
+ length = (length0 < length) ? length0 : length;
+
+ /* length1 is the number of bytes from the current read
+ * position in the circular buffer to the end of the buffer */
+ length1 = this->pbuf + this->size - this->pout;
+ if (length < length1) {
+ count = copy_to_user(pbuf, this->pout, length);
+ WARN_ON(count != length);
+ }
+
+ else {
+ /* we know that the buffer has wrapped, so read length
+ * bytes from the end of the buffer and the rest of the
+ * bytes from the start */
+ count = copy_to_user(pbuf, this->pout, length1);
+ WARN_ON(count != length1);
+ count = copy_to_user(pbuf + length1, this->pbuf,
+ length - length1);
+ WARN_ON(count != length - length1);
+ }
+ }
+ else {
+ /* since the buffer hasn't wrapped yet, just dump bytes from
+ * the current read position (this->pout) to the user */
+ length = (length0 < length) ? length0 : length;
+ count = copy_to_user(pbuf, this->pout, length);
+ WARN_ON(count != length);
+ }
+
+ spin_lock_irq(&this->lock);
+
+ this->pout += length;
+ if (this->pout > this->pbuf_top)
+ this->pout -= this->size;
+
+ devriport_rx(this);
+
+ spin_unlock_irq(&this->lock);
+
+ return length;
+}
+
+unsigned int devriport_poll(struct devriport *this,
+ struct poll_table_struct *ptable)
+{
+ unsigned int mask = 0;
+ poll_wait(this->pfile, &this->qwait, ptable);
+ if (this->pin != this->pout)
+ mask |= POLLIN | POLLRDNORM;
+ return mask;
+}
+
+void devriport_irq(struct devriport *this, int irq, struct pt_regs *regs)
+{
+ if (this->irqinuse) {
+ spin_lock_irq(&this->lock);
+ devriport_rx(this);
+ spin_unlock_irq(&this->lock);
+ wake_up_interruptible(&this->qwait);
+ }
+}
+
+void devriport_rx(struct devriport *this)
+{
+ int free;
+
+ free = this->pin - this->pout;
+
+ /* absolute value of free... using twos complement*/
+ if (free < 0)
+ free = -(free + 1);
+ else
+ free = this->size - (free + 1);
+
+ while (free && !(ECR_FIFO_EMPTY & inb(this->io_ext + ECR_EXT))) {
+
+ if (this->readState != RPDUMP_TIMESTAMP)
+ *(this->pin++) = inb(this->io_ext + FIFO_EXT);
+ else
+ *(this->pin++) =
+ ((char *)&this->timeStamp)[this->numBytesThisState];
+
+ if (this->pin > this->pbuf_top)
+ this->pin -= this->size;
+
+ free--;
+ switch (this->readState) {
+ /* due to the magic of the ECP port, it seems that we are
+ guaranteed to be fed a header from the riegl whenever we call
+ riport_open. this code assumes that is true */
+ case RPINIT:
+ /* header length is the first 4 bytes in the header*/
+ this->buf[(this->numBytesThisState)++] =
+ *(this->pin - 1);
+
+ /* after 4 bytes, we know the size of the header
+ the next two bytes are the size of the header */
+ if (this->numBytesThisState == 4) {
+ this->bytesToRead =
+ this->buf[0] + (this->buf[1] << 8) +
+ (this->buf[2] << 16) +
+ (this->buf[3] << 24) - 4;
+
+ /* reset variables for RPREAD_HEADER */
+ this->numBytesThisState = 0;
+ this->readState = RPREAD_HEADER;
+ }
+ break;
+ case RPREAD_HEADER:
+ /* the first two bytes describe the number of bytes per read */
+ if (this->numBytesThisState < 2)
+ this->buf[this->numBytesThisState++] =
+ *(this->pin - 1);
+
+ else {
+ this->numBytesThisState++;
+ }
+ /* after two byte reads, record the syncWord */
+ if (this->numBytesThisState == 2) {
+ this->syncWord =
+ this->buf[0] + (this->buf[1] << 8);
+ }
+
+ /* read to the end of the header and then go to READ state */
+ if (this->numBytesThisState == this->bytesToRead) {
+ do_gettimeofday(&this->timeStamp);
+ this->numBytesThisState = 0;
+ this->bytesToRead = 0;
+ this->readState = RPSYNC;
+ }
+ break;
+ case RPREAD:
+ /* ignore all the bytes in the data packet*/
+ this->numBytesThisState++;
+ if (this->numBytesThisState == this->bytesToRead) {
+ this->bytesToRead = 0;
+ this->numBytesThisState = 0;
+ this->readState = RPSYNC;
+ }
+ break;
+ case RPSYNC:
+ /* look for the two sync bytes record the first byte,
+ * since we need two bytes to get the sync */
+ if (this->numBytesThisState == 0) {
+ this->numBytesThisState++;
+ this->buf[1] = *(this->pin - 1);
+ }
+
+ else {
+
+ /* push the next byte into the 2 byte queue */
+ this->buf[0] = this->buf[1];
+ this->buf[1] = *(this->pin - 1);
+ this->numBytesThisState++;
+
+ /* if the sync word matches the two bytes in
+ * storage, change the state so that timeStamp
+ * is entered into the data stream */
+ if (this->syncWord ==
+ this->buf[0] + (this->buf[1] << 8)) {
+ do_gettimeofday(&this->timeStamp);
+
+ this->numBytesThisState = 0;
+ this->bytesToRead = this->syncWord;
+ this->readState = RPDUMP_TIMESTAMP;
+ }
+ }
+ break;
+ case RPDUMP_TIMESTAMP:
+ /* increment numBytesThisState to record the number of
+ * bytes passed into the data stream. once a full
+ * timeval has been passed, move on to reading the data
+ * from the riegl */
+ this->numBytesThisState++;
+
+ if (this->numBytesThisState >=
+ sizeof(struct timeval)) {
+ this->numBytesThisState = 0;
+ this->bytesToRead = this->syncWord;
+ this->readState = RPREAD;
+ }
+ break;
+ default:
+ this->readState = RPINIT;
+ break;
+ }
+ }
+
+ /* if we there isn't any more space in the buffer, enable interrupts
+ * otherwise disable service interrupts in both cases, leave parallel
+ * port in ECP mode and disable error interrupt*/
+ if (free)
+ /* enable IRQ's */
+ outb(ECR_ECP_MODE | ECR_ERRINT_DISABLED,
+ this->io_ext + ECR_EXT);
+ else
+ /* disable IRQ's */
+ outb(ECR_ECP_MODE | ECR_ERRINT_DISABLED |
+ ECR_SERVICE_INTERRUPT, this->io_ext + ECR_EXT);
+}
+
+
+/*----------------------------------------------------------------------------*/
+static struct drvriport {
+ int major;
+ int numdevs;
+ struct devriport *rgpdev[MAX_RIPORT_DEVICES];
+} riport;
+
+int drvriport_open(struct inode *pinode, struct file *pfile)
+{
+ int result;
+ struct devriport *pdev;
+
+ PDEBUG("drvriport_open \n");
+ if (!(MINOR(pinode->i_rdev) < riport.numdevs))
+ return -ENODEV;
+ pdev = riport.rgpdev[MINOR(pinode->i_rdev)];
+ pdev->pinode = pinode;
+ pdev->pfile = pfile;
+ pfile->private_data = pdev;
+ result = devriport_open(pdev);
+
+ return result;
+}
+
+int drvriport_release(struct inode *pinode, struct file *pfile)
+{
+ devriport_release(riport.rgpdev[MINOR(pinode->i_rdev)]);
+ return 0;
+}
+
+ssize_t drvriport_read(struct file * pfile, char *pbuf, size_t length,
+ loff_t * ppos)
+{
+ return devriport_read((struct devriport *)pfile->private_data, pbuf,
+ length);
+}
+
+unsigned int drvriport_poll(struct file *pfile,
+ struct poll_table_struct *ptable)
+{
+ return devriport_poll((struct devriport *)pfile->private_data, ptable);
+}
+
+static struct file_operations drvriport_fops = {
+ owner: THIS_MODULE,
+ read : drvriport_read,
+ open : drvriport_open,
+ release : drvriport_release,
+};
+
+
+static int io;
+static int irq;
+static int dma = 1;
+static int size;
+
+/*declarations to enable udev device node creation*/
+static struct class *riport_class;
+
+static int __init riport_init(void)
+{
+ int major = 0;
+ int result;
+ struct devriport *pdev;
+ int n;
+ struct class_device *class_err;
+
+ if (0 == io)
+ io = RIPORT_IO;
+ if (0 == irq)
+ irq = RIPORT_IRQ;
+ if (0 == size)
+ size = RIPORT_SIZE;
+ if ((result = register_chrdev(major, "riport", &drvriport_fops)) < 0)
+ goto fail_register_chrdev;
+
+ /* TODO: here is the place to add more riport devices */
+ riport.major = result;
+ riport.numdevs = 0;
+
+ pdev =
+ devriport_init(riport.major, riport.numdevs, io, irq, dma, size,
+ &result);
+ if (!pdev)
+ goto init_fail_dev;
+
+ riport.rgpdev[riport.numdevs++] = pdev;
+
+ riport_class = class_create(THIS_MODULE, "riport");
+ if(IS_ERR(riport_class)) {
+ result = PTR_ERR(riport_class);
+ goto init_fail_dev;
+ }
+
+ class_err = class_device_create(riport_class, NULL,
+ MKDEV(riport.major, 0), NULL, "riport0");
+
+ if (IS_ERR(class_err)) {
+ result = PTR_ERR(class_err);
+ class_destroy(riport_class);
+ goto init_fail_dev;
+ }
+
+ return 0;
+
+init_fail_dev:
+ PDEBUG("init_fail_dev\n");
+ for (n = 0; n < riport.numdevs; n++)
+ devriport_cleanup(riport.rgpdev[n]);
+ unregister_chrdev(riport.major, "riport");
+
+fail_register_chrdev:
+ PDEBUG("fail_register_chrdev\n");
+ return result;
+}
+
+static void __exit riport_exit(void)
+{
+ int n;
+
+ class_device_destroy(riport_class, MKDEV(riport.major, 0));
+ class_destroy(riport_class);
+ for (n = 0; n < riport.numdevs; n++)
+ devriport_cleanup(riport.rgpdev[n]);
+ unregister_chrdev(riport.major, "riport");
+}
+
+module_init(riport_init);
+module_exit(riport_exit);
+
+MODULE_LICENSE("GPL");
+MODULE_DESCRIPTION("driver for parallel port laser terrain scanner");
+
+module_param(io, int, 0444);
+MODULE_PARM_DESC(io, "if non-zero then overrides IO port address");
+
+module_param(irq, int, 0444);
+MODULE_PARM_DESC(io, "if non-zero then overrides IRQ number");
+
+module_param(size, int, 0444);
+MODULE_PARM_DESC(io, "if non-zero then overrides buffer size");
+
+
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