Xenomai 2 to 3 migration says "RTDM drivers implementing differentiated ioctl() support for both domains should serve all real-time only requests from ioctl_rt(), returning -ENOSYS for any unrecognized request, which will cause the adaptive switch to take place automatically to the ioctl_nrt() handler. The ioctl_nrt() should then implement all requests which may be valid from the regular Linux domain exclusively."
/**
Network Driver for Beckhoff CCAT communication controller
Copyright (C) 2014 Beckhoff Automation GmbH
Author: Patrick Bruenn <p.bruenn@beckhoff.com>
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.,
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
*/
#include <linux/kernel.h>
#include <linux/module.h>
#include <linux/gpio.h>
#include <linux/version.h>
#include "module.h"
/**
* struct ccat_gpio - CCAT GPIO function
* @ioaddr: PCI base address of the CCAT Update function
* @info: holds a copy of the CCAT Update function information block (read from PCI config space)
*/
struct ccat_gpio {
struct gpio_chip chip;
void __iomem *ioaddr;
struct mutex lock;
};
/** TODO implement in LED driver
#define TC_RED 0x01
#define TC_GREEN 0x02
#define TC_BLUE 0x04
#define FB1_RED 0x08
#define FB1_GREEN 0x10
#define FB1_BLUE 0x20
#define FB2_RED 0x40
#define FB2_GREEN 0x80
#define FB2_BLUE 0x100
*/
static int set_bit_in_register(struct mutex *lock, void __iomem * ioaddr,
unsigned nr, int val)
{
volatile unsigned long old;
mutex_lock(lock);
old = ioread32(ioaddr);
val ? set_bit(nr, &old) : clear_bit(nr, &old);
if (val)
set_bit(nr, &old);
else
clear_bit(nr, &old);
iowrite32(old, ioaddr);
mutex_unlock(lock);
return 0;
}
static int ccat_gpio_get_direction(struct gpio_chip *chip, unsigned nr)
{
struct ccat_gpio *gdev = container_of(chip, struct ccat_gpio, chip);
const size_t byte_offset = 4 * (nr / 32) + 0x8;
const u32 mask = 1 << (nr % 32);
return !(mask & ioread32(gdev->ioaddr + byte_offset));
}
static int ccat_gpio_direction_input(struct gpio_chip *chip, unsigned nr)
{
struct ccat_gpio *gdev = container_of(chip, struct ccat_gpio, chip);
return set_bit_in_register(&gdev->lock, gdev->ioaddr + 0x8, nr, 0);
}
static int ccat_gpio_direction_output(struct gpio_chip *chip, unsigned nr,
int val)
{
struct ccat_gpio *gdev = container_of(chip, struct ccat_gpio, chip);
return set_bit_in_register(&gdev->lock, gdev->ioaddr + 0x8, nr, 1);
}
static int ccat_gpio_get(struct gpio_chip *chip, unsigned nr)
{
struct ccat_gpio *gdev = container_of(chip, struct ccat_gpio, chip);
const size_t byte_off = 4 * (nr / 32);
const int mask = 1 << (nr % 32);
int dir_off;
int value;
/** omit direction changes before value was read */
mutex_lock(&gdev->lock);
dir_off = 0x10 * ccat_gpio_get_direction(chip, nr);
value = !(mask & ioread32(gdev->ioaddr + byte_off + dir_off));
mutex_unlock(&gdev->lock);
return value;
}
static void ccat_gpio_set(struct gpio_chip *chip, unsigned nr, int val)
{
struct ccat_gpio *gdev = container_of(chip, struct ccat_gpio, chip);
set_bit_in_register(&gdev->lock, gdev->ioaddr, nr, val);
}
static const struct gpio_chip ccat_gpio_chip = {
.label = KBUILD_MODNAME,
.owner = THIS_MODULE,
#if (LINUX_VERSION_CODE >= KERNEL_VERSION(3,12,0))
.get_direction = ccat_gpio_get_direction,
#endif
.direction_input = ccat_gpio_direction_input,
.get = ccat_gpio_get,
.direction_output = ccat_gpio_direction_output,
.set = ccat_gpio_set,
.dbg_show = NULL,
.base = -1,
.can_sleep = false
};
static int ccat_gpio_probe(struct ccat_function *func)
{
struct ccat_gpio *const gpio = kzalloc(sizeof(*gpio), GFP_KERNEL);
int ret;
if (!gpio)
return -ENOMEM;
gpio->ioaddr = func->ccat->bar_0 + func->info.addr;
memcpy(&gpio->chip, &ccat_gpio_chip, sizeof(gpio->chip));
gpio->chip.ngpio = func->info.num_gpios;
mutex_init(&gpio->lock);
ret = gpiochip_add(&gpio->chip);
if (ret) {
kfree(gpio);
return ret;
}
pr_info("registered %s as gpiochip%d with #%d GPIOs.\n",
gpio->chip.label, gpio->chip.base, gpio->chip.ngpio);
func->private_data = gpio;
return 0;
}
static void ccat_gpio_remove(struct ccat_function *func)
{
struct ccat_gpio *const gpio = func->private_data;
gpiochip_remove(&gpio->chip);
};
const struct ccat_driver gpio_driver = {
.type = CCATINFO_GPIO,
.probe = ccat_gpio_probe,
.remove = ccat_gpio_remove,
};