--- /dev/null
+DESCRIPTION = "char-driver and userspace program"
+PRIORITY = "optional"
+SECTION = "base"
+LICENSE = "GPL"
+RDEPENDS = "kernel (${KERNEL_VERSION})"
+DEPENDS = "virtual/kernel"
+
+PR = "r3"
+
+SRC_URI = "http://www.davehylands.com/gumstix-wiki/char-driver/char-driver-2.6.21.tar.gz \
+ file://makefile.patch;patch=1 \
+# file://sysctl.patch;patch=1 \
+ "
+
+S = "${WORKDIR}/char-driver"
+
+inherit module-base
+
+addtask builddir after do_fetch before do_unpack
+addtask movesrc after do_unpack before do_patch
+
+EXTRA_OEMAKE = 'CROSS_COMPILE="${CROSS_COMPILE}" \
+ KERNELDIR="${KERNEL_SOURCE}" \
+ CC="${CC}" \
+ '
+
+PARALLEL_MAKE = ""
+
+do_builddir () {
+ mkdir -p ${S}
+}
+
+do_movesrc () {
+ cd ${WORKDIR}
+ mv char-driver*.c sample.c char-driver*.h Makefile ${S}
+}
+
+do_configure () {
+ echo "Nothing to configure for char-driver"
+}
+
+do_compile () {
+ unset CFLAGS CPPFLAGS CXXFLAGS LDFLAGS
+ cd ${S}
+ oe_runmake
+}
+
+do_install () {
+ # install programs to bindir
+ install -m 0755 -d ${D}${bindir}
+ install -m 0755 ${S}/sample ${D}${bindir}
+
+ # kernel module installs with other modules
+ install -m 0755 -d ${D}${base_libdir}/modules/${KERNEL_VERSION}/extra/
+ # use cp instead of install so the driver doesn't get stripped
+ cp ${S}/char-driver.ko ${D}${base_libdir}/modules/${KERNEL_VERSION}/extra/
+}
+
+PACKAGES = "${PN}"
+FILES_${PN} = "${bindir}/sample"
+FILES_${PN} += "${base_libdir}/modules/${KERNEL_VERSION}/extra/char-driver.ko"
+
--- /dev/null
+--- char-driver/Makefile.orig 2008-03-09 14:38:02.000000000 -0600
++++ char-driver/Makefile 2008-03-09 14:39:04.000000000 -0600
+@@ -19,10 +19,10 @@
+ \r
+ PWD := $(shell pwd)\r
+ \r
+-GUMSTIX_BUILDROOT = $(PWD)/../gumstix-buildroot\r
+-BUILD_ARM = $(wildcard $(GUMSTIX_BUILDROOT)/build_arm*)\r
+-KERNELDIR ?= $(wildcard $(BUILD_ARM)/linux-*)\r
+-CROSS_COMPILE = $(BUILD_ARM)/staging_dir/bin/arm-linux-\r
++#GUMSTIX_BUILDROOT = $(PWD)/../gumstix-buildroot\r
++#BUILD_ARM = $(wildcard $(GUMSTIX_BUILDROOT)/build_arm*)\r
++#KERNELDIR ?= $(wildcard $(BUILD_ARM)/linux-*)\r
++#CROSS_COMPILE = $(BUILD_ARM)/staging_dir/bin/arm-linux-\r
+ \r
+ default: user-apps kernel-module\r
+ \r
+@@ -31,7 +31,7 @@
+ user-apps: sample\r
+ \r
+ TARGET_ARCH=-Os -march=armv5te -mtune=xscale -Wa,-mcpu=xscale\r
+-CC = $(CROSS_COMPILE)gcc\r
++#CC = $(CROSS_COMPILE)gcc\r
+ \r
+ sample: sample.c\r
+ \r
--- /dev/null
+--- char-driver/char-driver.c.orig 2008-03-09 13:05:30.000000000 -0600
++++ char-driver/char-driver.c 2008-03-09 13:04:33.000000000 -0600
+@@ -26,7 +26,6 @@
+ /* ---- Include Files ---------------------------------------------------- */
+
+ #include <linux/module.h>
+-#include <linux/config.h>
+ #include <linux/init.h>
+ #include <linux/fs.h>
+ #include <linux/spinlock.h>
+@@ -426,12 +425,17 @@
+ printk( "sample driver allocated major:%d minor:%d\n", MAJOR( gSampleDevNum ), MINOR( gSampleDevNum ));
+
+ // Register our proc entries.
+-
+- gSysCtlHeader = register_sysctl_table( gSysCtl, 0 );
+- if ( gSysCtlHeader != NULL )
+- {
+- gSysCtlHeader->ctl_table->child->de->owner = THIS_MODULE;
+- }
++#if USE_SYSCTL
++ #if ( LINUX_VERSION_CODE <= KERNEL_VERSION( 2, 6, 20 ))
++ gSysCtlHeader = register_sysctl_table( gSysCtl, 0 );
++ if ( gSysCtlHeader != NULL )
++ {
++ gSysCtlHeader->ctl_table->child->de->owner = THIS_MODULE;
++ }
++ #else
++ gSysCtlHeader = register_sysctl_table( gSysCtl );
++ #endif
++#endif
+
+ // Register our device. The device becomes "active" as soon as cdev_add
+ // is called.
--- /dev/null
+DESCRIPTION = "gpio-event driver and userspace program"
+PRIORITY = "optional"
+SECTION = "base"
+LICENSE = "GPL"
+RDEPENDS = "kernel (${KERNEL_VERSION})"
+DEPENDS = "virtual/kernel"
+
+PR = "r4"
+
+SRC_URI = "http://davehylands.com/gumstix-wiki/gpio-event/gpio-event-2.6.21-1444-select.tar.gz \
+ file://makefile.patch;patch=1 \
+ "
+
+S = "${WORKDIR}/gpio-event"
+
+inherit module-base
+
+addtask builddir after do_fetch before do_unpack
+addtask movesrc after do_unpack before do_patch
+
+EXTRA_OEMAKE = 'CROSS_COMPILE="${CROSS_COMPILE}" \
+ KERNELDIR="${KERNEL_SOURCE}" \
+ CC="${CC}" \
+ '
+
+PARALLEL_MAKE = ""
+
+do_builddir () {
+ mkdir -p ${S}
+}
+
+do_movesrc () {
+ cd ${WORKDIR}
+ mv gpio-event*.c gpio-event*.h Makefile ${S}
+}
+
+do_configure () {
+ echo "Nothing to configure for gpio-event"
+}
+
+do_compile () {
+ unset CFLAGS CPPFLAGS CXXFLAGS LDFLAGS
+ cd ${S}
+ oe_runmake
+}
+
+do_install () {
+ # install programs to bindir
+ install -m 0755 -d ${D}${bindir}
+ install -m 0755 ${S}/gpio-event ${D}${bindir}
+
+ # kernel module installs with other modules
+ install -m 0755 -d ${D}${base_libdir}/modules/${KERNEL_VERSION}/extra/
+ # use cp instead of install so the driver doesn't get stripped
+ cp ${S}/gpio-event-drv.ko ${D}${base_libdir}/modules/${KERNEL_VERSION}/extra/
+}
+
+PACKAGES = "${PN}"
+FILES_${PN} = "${bindir}/gpio-event"
+FILES_${PN} += "${base_libdir}/modules/${KERNEL_VERSION}/extra/gpio-event-drv.ko"
+
--- /dev/null
+--- gpio-event/Makefile.orig 2008-03-09 13:59:07.000000000 -0600
++++ gpio-event/Makefile 2008-03-09 13:59:51.000000000 -0600
+@@ -19,10 +19,10 @@
+ \r
+ PWD := $(shell pwd)\r
+ \r
+-GUMSTIX_BUILDROOT = $(PWD)/../cx-1575\r
+-BUILD_ARM = $(wildcard $(GUMSTIX_BUILDROOT)/build_arm*)\r
+-KERNELDIR ?= $(wildcard $(BUILD_ARM)/linux-*)\r
+-CROSS_COMPILE = $(BUILD_ARM)/staging_dir/bin/arm-linux-\r
++#GUMSTIX_BUILDROOT = $(PWD)/../cx-1575\r
++#BUILD_ARM = $(wildcard $(GUMSTIX_BUILDROOT)/build_arm*)\r
++#KERNELDIR ?= $(wildcard $(BUILD_ARM)/linux-*)\r
++#CROSS_COMPILE = $(BUILD_ARM)/staging_dir/bin/arm-linux-\r
+ \r
+ default: user-apps kernel-module\r
+ \r
+@@ -31,7 +31,7 @@
+ user-apps: gpio-event\r
+ \r
+ TARGET_ARCH=-Os -march=armv5te -mtune=xscale -Wa,-mcpu=xscale\r
+-CC = $(CROSS_COMPILE)gcc\r
++#CC = $(CROSS_COMPILE)gcc\r
+ \r
+ CPPFLAGS += \r
+ CFLAGS += -Wall\r
--- /dev/null
+/****************************************************************************
+*
+* Copyright (c) 2006 Dave Hylands <dhylands@gmail.com>
+*
+* 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.
+*
+* Alternatively, this software may be distributed under the terms of BSD
+* license.
+*
+* See README and COPYING for more details.
+*
+****************************************************************************/
+/**
+*
+* @file Config.h
+*
+* @brief Global Configuration information.
+*
+****************************************************************************/
+
+#if !defined( CONFIG_H )
+#define CONFIG_H /**< Include Guard */
+
+/* ---- Include Files ---------------------------------------------------- */
+
+/* ---- Constants and Types ---------------------------------------------- */
+
+/**
+ * Sets Logging parameters
+ */
+
+#define CFG_LOG_TO_BUFFER 0
+
+#define CFG_CRC8BLOCK 1
+
+/** @} */
+
+#endif // CONFIG_H
+
--- /dev/null
+/****************************************************************************
+*
+* Copyright (c) 2006 Dave Hylands <dhylands@gmail.com>
+*
+* 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.
+*
+* Alternatively, this software may be distributed under the terms of BSD
+* license.
+*
+* See README and COPYING for more details.
+*
+****************************************************************************/
+/**
+*
+* @file Crc8.c
+*
+* @brief This file contains the definition of the CRC-8 algorithim
+* used by SMBus
+*
+*
+*****************************************************************************/
+
+/* ---- Include Files ----------------------------------------------------- */
+
+#include "Config.h"
+
+#include "Crc8.h"
+
+#include "Log.h"
+
+/* ---- Public Variables -------------------------------------------------- */
+/* ---- Private Constants and Types --------------------------------------- */
+/* ---- Private Variables ------------------------------------------------- */
+/* ---- Private Function Prototypes --------------------------------------- */
+/* ---- Functions --------------------------------------------------------- */
+
+/****************************************************************************/
+/**
+* Calculates the CRC-8 used as part of SMBus.
+*
+* CRC-8 is defined to be x^8 + x^2 + x + 1
+*
+* To use this function use the following template:
+*
+* crc = Crc8( crc, data );
+*/
+
+#if 0 // Traditional implementation
+
+#define POLYNOMIAL (0x1070U << 3)
+
+unsigned char Crc8( unsigned char inCrc, unsigned char inData )
+{
+ int i;
+ unsigned short data;
+
+ data = inCrc ^ inData;
+ data <<= 8;
+
+ for ( i = 0; i < 8; i++ )
+ {
+ if (( data & 0x8000 ) != 0 )
+ {
+ data = data ^ POLYNOMIAL;
+ }
+ data = data << 1;
+ }
+
+#if 0
+#if defined( LogBuf2 )
+ LogBuf2( "Crc8: data:0x%02x crc:0x%02x\n", inData, (unsigned char)( data >> 8 ));
+#else
+
+ Log( "Crc8: data:0x%02x crc:0x%02x\n", inData, (unsigned char)( data >> 8 ));
+#endif
+
+#endif
+
+
+ return (unsigned char)( data >> 8 );
+
+} // Crc8
+
+#else // Optimized for 8 bit CPUs (0x22 bytes on ATMega128 versus 0x30 for above version)
+
+unsigned char Crc8( unsigned char inCrc, unsigned char inData )
+{
+ unsigned char i;
+ unsigned char data;
+
+ data = inCrc ^ inData;
+
+ for ( i = 0; i < 8; i++ )
+ {
+ if (( data & 0x80 ) != 0 )
+ {
+ data <<= 1;
+ data ^= 0x07;
+ }
+ else
+ {
+ data <<= 1;
+ }
+ }
+
+#if 0
+#if defined( LogBuf2 )
+ LogBuf2( "Crc8: data:0x%02x crc:0x%02x\n", inData, data );
+#else
+
+ Log( "Crc8: data:0x%02x crc:0x%02x\n", inData, data );
+#endif
+
+#endif
+
+
+ return data;
+
+} // Crc8
+
+#endif
+
+
+#if defined( CFG_CRC8BLOCK )
+
+/****************************************************************************/
+/**
+* Calculates the CRC-8 used as part of SMBus over a block of memory.
+*/
+
+uint8_t Crc8Block( uint8_t crc, uint8_t *data, uint8_t len )
+{
+ while ( len > 0 )
+ {
+ crc = Crc8( crc, *data++ );
+ len--;
+ }
+
+ return crc;
+
+} // Crc8Block
+
+#endif // CFG_CRC8BLOCK
+
+/** @} */
+
+
--- /dev/null
+/****************************************************************************
+*
+* Copyright (c) 2006 Dave Hylands <dhylands@gmail.com>
+*
+* 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.
+*
+* Alternatively, this software may be distributed under the terms of BSD
+* license.
+*
+* See README and COPYING for more details.
+*
+****************************************************************************/
+/**
+*
+* @file Crc8.h
+*
+* @brief This file contains the definition of the CRC-8 algorithim
+* used by SMBus
+*
+****************************************************************************/
+
+#if !defined( CRC8_H )
+#define CRC_H ///< Include Guard
+
+/* ---- Include Files ----------------------------------------------------- */
+
+#include <inttypes.h>
+
+#if defined( __cplusplus )
+extern "C"
+{
+#endif
+
+
+/* ---- Constants and Types ---------------------------------------------- */
+/* ---- Variable Externs ------------------------------------------------- */
+/* ---- Function Prototypes ---------------------------------------------- */
+
+uint8_t Crc8( uint8_t crc, uint8_t data );
+
+uint8_t Crc8Block( uint8_t crc, uint8_t *data, uint8_t len );
+
+
+#if defined( __cplusplus )
+}
+#endif
+
+
+/** @} */
+
+#endif // CRC8_H
+
--- /dev/null
+/****************************************************************************
+*
+* Copyright (c) 2006 Dave Hylands <dhylands@gmail.com>
+*
+* 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.
+*
+* Alternatively, this software may be distributed under the terms of BSD
+* license.
+*
+* See README and COPYING for more details.
+*
+****************************************************************************/
+/**
+*
+* @file DumpMem.c
+*
+* @brief Memmory dump routine
+*
+****************************************************************************/
+
+// ---- Include Files -------------------------------------------------------
+
+#include <inttypes.h>
+#include "DumpMem.h"
+#include "Log.h"
+
+// ---- Public Variables ----------------------------------------------------
+// ---- Private Constants and Types -----------------------------------------
+// ---- Private Variables ---------------------------------------------------
+// ---- Private Function Prototypes -----------------------------------------
+// ---- Functions -----------------------------------------------------------
+
+/**************************************************************************/
+/**
+* Dumps a page of output for debugging purposes.
+*/
+
+void DumpMem( const char *prefix, unsigned address, const void *inData, unsigned numBytes )
+{
+ const uint8_t *data = (const uint8_t *)inData;
+ unsigned byteOffset;
+
+ if ( numBytes == 0 )
+ {
+ Log( "%s: No data\n", prefix );
+ return;
+ }
+
+#define LINE_WIDTH 16
+
+ for ( byteOffset = 0; byteOffset < numBytes; byteOffset += LINE_WIDTH )
+ {
+ unsigned i;
+
+ Log( "%s: %04x: ", prefix, address + byteOffset );
+
+ for ( i = 0; i < LINE_WIDTH; i++ )
+ {
+ if (( byteOffset + i ) < numBytes )
+ {
+ Log( "%02.2X ", data[ byteOffset + i ] );
+ }
+ else
+ {
+ Log( " " );
+ }
+ }
+ for ( i = 0; i < LINE_WIDTH; i++ )
+ {
+ if (( byteOffset + i ) < numBytes )
+ {
+ unsigned char ch = data[ byteOffset + i ];
+ if (( ch < ' ' ) || ( ch > '~' ))
+ {
+ Log( "." );
+ }
+ else
+ {
+ Log( "%c", ch );
+ }
+ }
+ else
+ {
+ break;
+ }
+ }
+ Log( "\n" );
+ }
+
+} // DumpMem
+
--- /dev/null
+/****************************************************************************
+*
+* Copyright (c) 2006 Dave Hylands <dhylands@gmail.com>
+*
+* 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.
+*
+* Alternatively, this software may be distributed under the terms of BSD
+* license.
+*
+* See README and COPYING for more details.
+*
+****************************************************************************/
+/**
+*
+* @file DumpMem.h
+*
+* @brief Debug routine for dumping memory
+*
+****************************************************************************/
+
+#if !defined( DUMPMEM_H )
+#define DUMPMEM_H ///< Include Guard
+
+// ---- Include Files -------------------------------------------------------
+
+/**
+ * @addtogroup Log
+ * @{
+ */
+
+#if defined( __cplusplus )
+extern "C"
+{
+#endif
+
+
+void DumpMem( const char *prefix, unsigned address, const void *data, unsigned numBytes );
+
+#if defined( __cplusplus )
+}
+#endif
+
+
+/** @} */
+
+#endif // DUMPMEM_H
+
--- /dev/null
+/****************************************************************************
+*
+* Copyright (c) 2006 Dave Hylands <dhylands@gmail.com>
+*
+* 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.
+*
+* Alternatively, this software may be distributed under the terms of BSD
+* license.
+*
+* See README and COPYING for more details.
+*
+****************************************************************************/
+/**
+*
+* @file Log.cpp
+*
+* @brief This file contains the implementation of the logging functions.
+*
+****************************************************************************/
+
+// ---- Include Files -------------------------------------------------------
+
+#include "Log.h"
+
+#if CFG_LOG_USE_STDIO
+# include <stdio.h>
+#else
+
+# include "Str.h"
+# include "UART.h"
+#endif
+
+
+// ---- Public Variables ----------------------------------------------------
+// ---- Private Constants and Types -----------------------------------------
+
+#if defined( AVR )
+
+#undef Log
+#undef LogError
+#undef vLog
+
+#define Log Log_P
+#define LogError LogError_P
+#define vLog vLog_P
+#define LogBuf LogBuf_P
+
+#define char prog_char
+
+#else
+
+
+#define PSTR(str) str
+
+int gVerbose = 0;
+int gDebug = 0;
+int gQuiet = 0;
+
+#endif
+
+
+#if CFG_LOG_TO_BUFFER
+
+volatile LOG_Buffer_t LOG_gBuffer;
+
+#endif
+
+
+// ---- Private Variables ---------------------------------------------------
+
+#if CFG_LOG_USE_STDIO
+
+FILE *gLogFs = NULL;
+
+#endif
+
+
+// ---- Private Function Prototypes -----------------------------------------
+
+// ---- Functions -----------------------------------------------------------
+
+/**
+ * @addtogroup Log
+ * @{
+ */
+
+#if !defined( AVR )
+
+void DefaultLogFunc( int logLevel, const char *fmt, va_list args )
+{
+ FILE *fs;
+
+ if ( gQuiet && ( logLevel == LOG_LEVEL_NORMAL ))
+ {
+ return;
+ }
+
+ if ( gLogFs == NULL )
+ {
+ fs = stderr;
+ }
+ else
+ {
+ fs = gLogFs;
+ }
+
+ if ( logLevel == LOG_LEVEL_ERROR )
+ {
+ fprintf( fs, "ERROR: " );
+ }
+ vfprintf( fs, fmt, args );
+ fflush( fs );
+
+} // DefaultLogFunc
+
+static LogFunc_t gLogFunc = DefaultLogFunc;
+
+void SetLogFunc( LogFunc_t logFunc )
+{
+
+ gLogFunc = logFunc;
+
+} // SetLogFunc
+
+#endif
+
+
+//***************************************************************************
+/**
+* Sets the logging stream
+*/
+
+#if CFG_LOG_USE_STDIO
+void LogInit( FILE *logFs )
+{
+ gLogFs = logFs;
+
+} // LogInit
+
+#else
+
+
+static int LogToUartFunc( void *outParm, int ch )
+{
+ UART0_PutChar( ch );
+
+ return 1;
+}
+#endif
+
+
+//***************************************************************************
+/**
+* Logs a string using printf like semantics
+*/
+
+void Log
+(
+ const char *fmt, ///< printf style format specifier
+ ... ///< variable list of arguments
+)
+{
+ va_list args;
+
+ va_start( args, fmt );
+ vLog( fmt, args );
+ va_end( args );
+}
+
+//***************************************************************************
+/**
+* Logs a string using printf like semantics
+*/
+
+void vLog
+(
+ const char *fmt, ///< printf style format specified
+ va_list args ///< variable list of arguments
+)
+{
+ // For now we call printf directly. A better way would be to install
+ // a callback which does the real work
+
+#if defined( AVR )
+# if CFG_LOG_USE_STDIO
+ if ( gLogFs != NULL )
+ {
+ vfprintf_P( gLogFs, fmt, args );
+ }
+# else
+
+ vStrXPrintf_P( LogToUartFunc, NULL, fmt, args );
+# endif
+
+#else
+
+ if ( gLogFunc != NULL )
+ {
+ gLogFunc( LOG_LEVEL_NORMAL, fmt, args );
+ }
+#endif
+
+}
+
+#if !defined( AVR )
+
+//***************************************************************************
+/**
+* Logs an error.
+*/
+
+void vLogError
+(
+ const char *fmt, ///< printf style format specified
+ va_list args ///< variable list of arguments
+)
+{
+ if ( gLogFunc != NULL )
+ {
+ gLogFunc( LOG_LEVEL_ERROR, fmt, args );
+ }
+}
+
+#endif
+
+
+/***************************************************************************/
+/**
+* Logs an error
+*/
+
+void LogError
+(
+ const char *fmt, ///< printf style format specifier
+ ... ///< variable list of arguments
+)
+{
+ va_list args;
+
+#if defined( AVR )
+ //Log( "ERROR: " );
+ //Log_P( PSTR( "ERROR: " ));
+
+ va_start( args, fmt );
+ vLog( fmt, args );
+ va_end( args );
+#else
+
+ va_start( args, fmt );
+ vLogError( fmt, args );
+ va_end( args );
+#endif
+
+
+} // LogError
+
+/***************************************************************************/
+/**
+* Logs an entry to the log buffer
+*/
+
+#if CFG_LOG_TO_BUFFER
+
+void LogBuf( const char *fmt, uint8_t arg1, uint8_t arg2 LOG_EXTRA_PARAMS_DECL )
+{
+#if defined( AVR )
+ uint8_t sreg = SREG;
+ cli();
+#endif
+
+
+ if ( CBUF_IsFull( LOG_gBuffer ))
+ {
+ volatile LOG_Entry_t *entry = CBUF_GetLastEntryPtr( LOG_gBuffer );
+
+ entry->fmt = PSTR( "*** Lost Messages ***\n" );
+ }
+ else
+ {
+ volatile LOG_Entry_t *entry = CBUF_GetPushEntryPtr( LOG_gBuffer );
+
+ entry->fmt = fmt;
+ entry->param1 = arg1;
+ entry->param2 = arg2;
+
+#if CFG_LOG_EXTRA_PARAMS
+ entry->param3 = arg3;
+ entry->param4 = arg4;
+#endif
+
+
+ CBUF_AdvancePushIdx( LOG_gBuffer );
+ }
+
+#if defined( AVR )
+ SREG = sreg;
+#endif
+
+
+} // LogBuf
+
+#endif // CFG_LOG_TO_BUFFER
+
+/***************************************************************************/
+/**
+* Dumps any unlogged entries from the log buffer
+*/
+
+#if CFG_LOG_TO_BUFFER
+
+void LogBufDump( void )
+{
+ while ( !CBUF_IsEmpty( LOG_gBuffer ))
+ {
+ volatile LOG_Entry_t *entry = CBUF_GetPopEntryPtr( LOG_gBuffer );
+
+#if CFG_LOG_EXTRA_PARAMS
+ Log( entry->fmt, entry->param1, entry->param2, entry->param3, entry->param4 );
+#else
+
+ Log( entry->fmt, entry->param1, entry->param2 );
+#endif
+
+
+ CBUF_AdvancePopIdx( LOG_gBuffer );
+ }
+
+} // LogBufDump
+
+#endif // CFG_LOG_TO_BUFFER
+
+/** @} */
+
--- /dev/null
+/****************************************************************************
+*
+* Copyright (c) 2006 Dave Hylands <dhylands@gmail.com>
+*
+* 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.
+*
+* Alternatively, this software may be distributed under the terms of BSD
+* license.
+*
+* See README and COPYING for more details.
+*
+****************************************************************************/
+/**
+*
+* @file Log.h
+*
+* @brief Contains some logging macros.
+*
+****************************************************************************/
+/**
+* @defgroup Log Logging
+*
+* @brief Provides a common interface for logging.
+*
+****************************************************************************/
+
+#if !defined( LOG_H )
+#define LOG_H ///< Include Guard
+
+// ---- Include Files -------------------------------------------------------
+
+#include <stdarg.h>
+#include <stdio.h>
+
+#if !defined( CONFIG_H )
+# include "Config.h"
+#endif
+
+#if !defined( CFG_LOG_USE_STDIO )
+# define CFG_LOG_USE_STDIO 1
+#endif
+
+
+#if defined( AVR )
+# include <avr/pgmspace.h>
+# include <avr/interrupt.h>
+#endif
+
+
+#if CFG_LOG_TO_BUFFER
+# if !defined( CBUF_H )
+# include "CBUF.h"
+# endif
+
+#endif
+
+
+
+/**
+ * @addtogroup Log
+ * @{
+ */
+
+#if !defined( CFG_LOG_ENABLED )
+# define CFG_LOG_ENABLED 1
+#endif
+
+
+#if !CFG_LOG_ENABLED
+
+#define Log( fmt, args... )
+#define LogError( fmt, args... )
+
+#else
+
+
+#if defined( __cplusplus )
+extern "C"
+{
+#endif
+
+
+/***************************************************************************
+*
+* Log Buffer support
+*/
+
+#if CFG_LOG_TO_BUFFER
+
+#if defined( AVR )
+
+typedef struct
+{
+ const prog_char *fmt;
+ uint8_t param1;
+ uint8_t param2;
+#if CFG_LOG_EXTRA_PARAMS
+ uint8_t param3;
+ uint8_t param4;
+#endif
+
+
+} LOG_Entry_t;
+
+#if CFG_LOG_EXTRA_PARAMS
+# define LOG_EXTRA_PARAMS_DECL , uint8_t arg3, uint8_t arg4
+# define LOG_EXTRA_PARAMS , 0, 0
+#else
+
+# define LOG_EXTRA_PARAMS_DECL
+# define LOG_EXTRA_PARAMS
+#endif
+
+
+void LogBuf_P( const prog_char *fmt, uint8_t arg1, uint8_t arg2 LOG_EXTRA_PARAMS_DECL );
+
+#define LogBuf0( fmt ) LogBuf_P( PSTR( fmt ), 0, 0 LOG_EXTRA_PARAMS )
+#define LogBuf1( fmt, arg1 ) LogBuf_P( PSTR( fmt ), arg1, 0 LOG_EXTRA_PARAMS )
+#define LogBuf2( fmt, arg1, arg2 ) LogBuf_P( PSTR( fmt ), arg1, arg2 LOG_EXTRA_PARAMS )
+
+#if CFG_LOG_EXTRA_PARAMS
+#define LogBuf3( fmt, arg1, arg2, arg3 ) LogBuf_P( PSTR( fmt ), arg1, arg2, arg3, 0 )
+#define LogBuf4( fmt, arg1, arg2, arg3, arg4 ) LogBuf_P( PSTR( fmt ), arg1, arg2, arg3, arg4 )
+#endif
+
+
+#else
+
+
+typedef struct
+{
+ const char *fmt;
+ uint8_t param1;
+ uint8_t param2;
+
+} LOG_Entry_t;
+
+void LogBuf( const char *fmt, uint8_t arg1, uint8_t arg2 );
+
+#define LogBuf0( fmt, arg1 ) LogBuf( fmt, 0, 0 )
+#define LogBuf1( fmt, arg1 ) LogBuf( fmt, arg1, 0 )
+#define LogBuf2( fmt, arg1, arg2 ) LogBuf( fmt, arg1, arg2 )
+
+#endif // AVR
+
+#if ( CFG_LOG_NUM_BUFFER_ENTRIES > 128 )
+typedef uint16_t LOG_BufferIdx_t;
+#else
+
+typedef uint8_t LOG_BufferIdx_t;
+#endif
+
+
+typedef struct
+{
+ LOG_BufferIdx_t m_getIdx;
+ LOG_BufferIdx_t m_putIdx;
+ LOG_Entry_t m_entry[ CFG_LOG_NUM_BUFFER_ENTRIES ];
+
+} LOG_Buffer_t;
+
+extern volatile LOG_Buffer_t LOG_gBuffer;
+
+#define LOG_gBuffer_SIZE ( sizeof( LOG_gBuffer.m_entry ) / sizeof( LOG_gBuffer.m_entry[ 0 ] ))
+
+void LogBufDump( void );
+
+#endif // CFG_LOG_TO_BUFFER
+
+/***************************************************************************
+*
+* Regular logging support
+*/
+
+#if CFG_LOG_USE_STDIO
+extern FILE *gLogFs;
+
+void LogInit( FILE *logFs );
+#endif
+
+
+#if defined( AVR )
+
+void Log_P( const prog_char *fmt, ... );
+void LogError_P( const prog_char *fmt, ... );
+void vLog_P( const prog_char *fmt, va_list args );
+
+#define Log( fmt, args... ) Log_P( PSTR( fmt ), ## args )
+#define LogError( fmt, args... ) LogError_P( PSTR( fmt ), ## args )
+#define vLog( fmt, va_list, args ) vLog_P( PSTR( fmt ), args )
+
+#else // AVR
+
+#define LOG_LEVEL_NORMAL 0
+#define LOG_LEVEL_ERROR 1
+
+typedef void (*LogFunc_t)( int logLevel, const char *fmt, va_list args );
+
+extern int gVerbose;
+extern int gDebug;
+extern int gQuiet;
+
+void Log( const char *fmt, ... );
+void LogError( const char *fmt, ... );
+void vLog( const char *fmt, va_list args );
+void vLogError( const char *fmt, va_list args );
+
+#define Log_P( fmt, args... ) Log( fmt, ## args )
+#define LogError_P( fmt, args... ) LogError( fmt, ## args )
+#define vLog_P( fmt, args ) vLog( fmt, args )
+
+#define LogDebug( fmt, args... ) do { if ( gDebug ) { Log( fmt, ## args ); }} while (0)
+#define LogVerbose( fmt, args... ) do { if ( gVerbose ) { Log( fmt, ## args ); }} while (0)
+
+void SetLogFunc( LogFunc_t logFunc );
+void DefaultLogFunc( int logLevel, const char *fmt, va_list args );
+
+#endif // AVR
+
+#if defined( __cplusplus )
+}
+#endif
+
+
+#endif // CFG_LOG_ENABLED
+
+/** @} */
+
+#endif // LOG_H
+
--- /dev/null
+/****************************************************************************
+*
+* Copyright (c) 2006 Dave Hylands <dhylands@gmail.com>
+*
+* 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.
+*
+* Alternatively, this software may be distributed under the terms of BSD
+* license.
+*
+* See README and COPYING for more details.
+*
+****************************************************************************/
+/**
+*
+* @file i2c-api.c
+*
+* @brief This file contains the implementation for performing I2C operations
+* on the gumstix.
+*
+****************************************************************************/
+
+// ---- Include Files -------------------------------------------------------
+
+#include <string.h>
+#include <errno.h>
+
+#include "i2c.h"
+#include "i2c-dev.h"
+#include "i2c-api.h"
+
+#include "Crc8.h"
+#include "DumpMem.h"
+#include "Log.h"
+
+// ---- Public Variables ----------------------------------------------------
+
+// ---- Private Constants and Types -----------------------------------------
+
+// ---- Private Variables ---------------------------------------------------
+
+static I2C_Addr_t gI2cAddr;
+static int gUseCrc;
+
+// ---- Private Function Prototypes -----------------------------------------
+
+// ---- Functions -----------------------------------------------------------
+
+//***************************************************************************
+/**
+*
+* Sets the I2C address that we'll be communicating with, as well as whether
+* the device uses smbus PEC (CRC).
+*/
+
+void I2cSetSlaveAddress( int i2cDev, I2C_Addr_t i2cAddr, int useCrc )
+{
+ gI2cAddr = i2cAddr;
+ gUseCrc = useCrc;
+
+ LogDebug( "----- I2cSetSlaveAddress i2cAddr:0x%02x useCrc:%d -----\n",
+ i2cAddr, useCrc );
+
+ // Indicate which slave we wish to speak to
+
+ if ( ioctl( i2cDev, I2C_SLAVE, gI2cAddr ) < 0 )
+ {
+ LogError( "I2cSetSlaveAddress: Error trying to set slave address to 0x%02x (%d %s)\n",
+ gI2cAddr, errno, strerror( errno ));
+ }
+
+ // We do the CRC calculation ourself, so we don't need to tell the driver
+ // that we're using it.
+
+#if 0
+ // Indicate that we use PEC (aka CRCs)
+
+ if ( ioctl( i2cDev, I2C_PEC, 1 ) < 0 )
+ {
+ LogError( "I2cSetSlaveAddress: Error trying to set PEC mode\n" );
+ }
+#endif
+
+} // I2cSetSlaveAddress
+
+//***************************************************************************
+/**
+* Transfer data to/from an i2c device.
+*
+* This function implements the equivalent of the smbus functions using
+* I2C_RDWR.
+*
+* The PXA driver doesn't support the smbus transfers.
+*
+* This function can perform the following SMBUS transactions:
+*
+* Write Byte: wrLen == 1, rdLen == 0
+* Read Byte: wrLen == 0, rdLen == 1
+* Write Word: wrLen == 2, rdLen == 0
+* Read Word: wrLen == 0, rdLen == 2
+* Process Call: wrLen == 2, rdLen == 2
+* Write Block: wrLen == 0x80 + numBytes, rdLen == 0
+* Read Block: wrLen == 0, rdLen == 0x80 + numBytes
+* Process Block: wrLen == 0x80 + numBytes, rdLen == 0x80 + numBytes
+*/
+
+int I2cTransfer
+(
+ int i2cDev, ///< Handle to i2c-dev file
+ uint8_t cmd, ///< Command to send
+ const void *wrData, ///< Data to write
+ uint8_t wrLen, ///< Number of bytes to write (or in 0x80 for a block write)
+ void *rdData, ///< Place to store data read
+ uint8_t rdLen, ///< Number of bytes to read (or in 0x80 for a block read)
+ uint8_t *bytesReadp ///< Place to store number of bytes read
+)
+{
+ struct i2c_rdwr_ioctl_data rdwr;
+ struct i2c_msg msg[ 2 ];
+ uint8_t wrBuf[ I2C_MAX_DATA_LEN + 3 ]; // +1 for cmd, +1 for len, +1 for CRC
+ uint8_t rdBuf[ I2C_MAX_DATA_LEN + 2 ]; // +1 for len, +1 for CRC
+ uint8_t crc = 0;
+ uint8_t wrBlock = (( wrLen & 0x80 ) != 0 );
+ uint8_t rdBlock = (( rdLen & 0x80 ) != 0 );
+ int rc = 0;
+
+ LogDebug( "----- I2cTransfer: cmd:0x%02x wrLen:0x%02x rdLen:0x%02x wrBlock:%d rdBlock:%d -----\n",
+ cmd, wrLen, rdLen, wrBlock, rdBlock );
+ if ( wrData != NULL )
+ {
+ LogDebug( "----- wrData:0x%08x *wrData:0x%02x -----\n", wrData, *(const uint8_t *)wrData );
+ }
+
+ rdLen &= 0x7f;
+ wrLen &= 0x7f;
+
+ if ( bytesReadp != NULL )
+ {
+ *bytesReadp = 0;
+ }
+
+ if ( wrLen > I2C_MAX_DATA_LEN )
+ {
+ LogError( "I2cTransfer: wrLen too big: %d, max is %d\n",
+ wrLen, I2C_MAX_DATA_LEN );
+ errno = ENOBUFS;
+ return -1;
+ }
+
+ if ( rdLen > I2C_MAX_DATA_LEN )
+ {
+ LogError( "I2cTransfer: rdLen too big: %d, max is %d\n",
+ rdLen, I2C_MAX_DATA_LEN );
+ errno = ENOBUFS;
+ return -1;
+ }
+
+ // Whether we're doing a read or a write, we always send
+ // the command.
+
+ msg[ 0 ].addr = gI2cAddr;
+ msg[ 0 ].flags = 0;
+ msg[ 0 ].len = wrLen + 1 + wrBlock; // +1 for cmd
+ msg[ 0 ].buf = (char *)&wrBuf[ 0 ];
+
+ if ( gUseCrc )
+ {
+ crc = Crc8( 0, gI2cAddr << 1 );
+ crc = Crc8( crc, cmd );
+ }
+
+ wrBuf[ 0 ] = cmd;
+
+ if ( wrLen > 0 )
+ {
+ // We have some data to send down to the device
+
+ if ( wrBlock )
+ {
+ wrBuf[ 1 ] = wrLen;
+ memcpy( &wrBuf[ 2 ], wrData, wrLen );
+ wrLen++; // Add in cmd to the length
+ }
+ else
+ {
+ memcpy( &wrBuf[ 1 ], wrData, wrLen );
+ }
+ if ( gUseCrc )
+ {
+ crc = Crc8Block( crc, &wrBuf[ 1 ], wrLen );
+
+ if ( rdLen == 0 )
+ {
+ // This is a write-only, so we need to send the CRC
+
+ wrBuf[ wrLen + 1 ] = crc;
+ msg[ 0 ].len++;
+ }
+ }
+ }
+
+ if ( gDebug )
+ {
+ Log( "msg[ 0 ].addr = 0x%02x\n", msg[ 0 ].addr );
+ Log( "msg[ 0 ].flags = 0x%04x\n", msg[ 0 ].flags );
+ Log( "msg[ 0 ].len = %d\n", msg[ 0 ].len );
+ DumpMem( "I2cTransfer W", 0, &wrBuf[ 0 ], msg[ 0 ].len );
+ }
+
+ rdwr.msgs = msg;
+ rdwr.nmsgs = 1;
+
+ if ( rdLen > 0 )
+ {
+ // We're expecting some data to come back
+
+ msg[ 1 ].addr = gI2cAddr;
+ msg[ 1 ].flags = I2C_M_RD;
+ msg[ 1 ].len = rdLen + rdBlock + gUseCrc;
+ msg[ 1 ].buf = (char *)&rdBuf[ 0 ];
+
+ rdwr.nmsgs = 2;
+
+ if ( gUseCrc )
+ {
+ crc = Crc8( crc, ( gI2cAddr << 1 ) | 1 );
+ }
+
+ if ( gDebug )
+ {
+ Log( "msg[ 1 ].addr = 0x%02x\n", msg[ 1 ].addr );
+ Log( "msg[ 1 ].flags = 0x%04x\n", msg[ 1 ].flags );
+ Log( "msg[ 1 ].len = %d\n", msg[ 1 ].len );
+ }
+ }
+
+ if ( ioctl( i2cDev, I2C_RDWR, &rdwr ) < 0 )
+ {
+ LogError( "I2cTransfer: ioctl failed: %s (%d)\n", strerror( errno ), errno );
+ return -1;
+ }
+
+ if ( rdLen > 0 )
+ {
+ if ( rdBlock )
+ {
+ if ( rdBuf[ 0 ] > rdLen )
+ {
+ LogError( "I2cTransfer: length is too big: %d max: %d\n", rdBuf[ 0 ], rdLen );
+
+ rc = EMSGSIZE;
+ }
+ else
+ {
+ rdLen = rdBuf[ 0 ];
+ }
+ }
+
+ if ( gUseCrc )
+ {
+ crc = Crc8Block( crc, &rdBuf[ 0 ], rdLen + rdBlock );
+
+ if ( crc != rdBuf[ rdLen + rdBlock ] )
+ {
+ LogError( "I2cTransfer: CRC failed: Rcvd: 0x%02x, expecting: 0x%02x\n",
+ rdBuf[ rdLen + rdBlock ], crc );
+ rc = EBADMSG;
+ }
+ }
+
+ if ( gDebug )
+ {
+ DumpMem( "I2cTransfer R", 0, &rdBuf[ 0 ], msg[ 1 ].len );
+ }
+ memcpy( rdData, &rdBuf[ rdBlock ], rdLen );
+
+ if ( bytesReadp != NULL )
+ {
+ *bytesReadp = rdLen;
+ }
+ }
+ return rc;
+
+} // I2cTransfer
+
+//***************************************************************************
+/**
+* Uses the SMBUS Process-Block protocol to read data from a device.
+*/
+
+int I2cProcessBlock
+(
+ int i2cDev, ///< Handle to i2c-dev file
+ uint8_t cmd, ///< Command to send
+ const void *wrData, ///< Data to write
+ uint8_t wrLen, ///< Number of bytes to write
+ void *rdData, ///< Place to store data read
+ uint8_t rdLen, ///< Number of bytes to read
+ uint8_t *bytesReadp ///< Place to store number of bytes read
+)
+{
+ LogDebug( "----- I2cProcessBlock cmd: 0x%02x wrLen:0x%02x rdLen:0x%02x -----\n", cmd, wrLen, rdLen );
+
+ return I2cTransfer( i2cDev, cmd, wrData, 0x80 | wrLen, rdData, 0x80 | rdLen, bytesReadp );
+
+} // I2cProcessBlock
+
+//***************************************************************************
+/**
+* Uses the SMBUS Read-Block protocol to read data from a device.
+*/
+
+int I2cReadBlock
+(
+ int i2cDev, ///< Handle to i2c-dev file
+ uint8_t cmd, ///< Command to send
+ void *rdData, ///< Place to store data read
+ uint8_t rdLen, ///< Number of bytes to read
+ uint8_t *bytesReadp ///< Place to store number of bytes read
+)
+{
+ LogDebug( "----- I2cReadBlock cmd: 0x%02x rdLen:0x%02x -----\n", cmd, rdLen );
+
+ return I2cTransfer( i2cDev, cmd, NULL, 0, rdData, 0x80 | rdLen, bytesReadp );
+
+} // I2cReadBlock
+
+//***************************************************************************
+/**
+* Uses the SMBUS Read-Byte protocol to read a byte.
+*/
+
+int I2cReadByte
+(
+ int i2cDev, ///< Handle to i2c-dev file
+ uint8_t cmd, ///< Command to send
+ uint8_t *rdByte ///< Place to store byte read
+)
+{
+ LogDebug( "----- I2cReadByte cmd: 0x%02x -----\n", cmd );
+
+ return I2cTransfer( i2cDev, cmd, NULL, 0, rdByte, 1, NULL );
+
+} // I2cReadByte
+
+//***************************************************************************
+/**
+* Reads an array of bytes usinng i2c (not compatible with SMBUS)
+*/
+
+int I2cReadBytes
+(
+ int i2cDev, ///< Handle to i2c-dev file
+ uint8_t cmd, ///< Command to send
+ void *rdByte, ///< Place to store bytes read
+ uint8_t rdLen ///< Number of bytes to read
+)
+{
+ LogDebug( "----- I2cReadBytes cmd: 0x%02x rdLen: 0x%02x -----\n", cmd, rdLen );
+
+ return I2cTransfer( i2cDev, cmd, NULL, 0, rdByte, rdLen, NULL );
+
+} // I2cReadBytes
+
+//***************************************************************************
+/**
+* Uses the SMBUS Write-Block protocol to write data from a device.
+*/
+
+int I2cWriteBlock
+(
+ int i2cDev, ///< Handle to i2c-dev file
+ uint8_t cmd, ///< Command to send
+ const void *wrData, ///< Data to write
+ uint8_t wrLen ///< Number of bytes to write
+)
+{
+ LogDebug( "----- I2cWriteBlock cmd: 0x%02x wrLen:0x%02x -----\n", cmd, wrLen );
+
+ return I2cTransfer( i2cDev, cmd, wrData, 0x80 | wrLen, NULL, 0, NULL );
+
+} // I2cWriteBlock
+
+//***************************************************************************
+/**
+* Uses the SMBUS Write-Byte protocol to write a byte.
+*/
+
+int I2cWriteByte
+(
+ int i2cDev, ///< Handle to i2c-dev file
+ uint8_t cmd, ///< Command to send
+ uint8_t wrByte ///< Byte to write
+)
+{
+ LogDebug( "----- I2cWriteByte cmd: 0x%02x wrByte:0x%02x -----\n", cmd, wrByte );
+ LogDebug( "----- &wrByte = 0x%08x wrByte = 0x%02x -----\n", &wrByte, *&wrByte );
+
+ return I2cTransfer( i2cDev, cmd, &wrByte, 1, NULL, 0, NULL );
+
+} // I2cWriteByte
+
+//***************************************************************************
+/**
+* Writes an array of bytes using i2c (not compatible with SMBUS)
+*/
+
+int I2cWriteBytes
+(
+ int i2cDev, ///< Handle to i2c-dev file
+ uint8_t cmd, ///< Command to send
+ const void *wrByte, ///< Bytes to write
+ uint8_t wrLen ///< Number of bytes to write
+)
+{
+ LogDebug( "----- I2cWriteBytes cmd: 0x%02x wrLen: 0x%02x -----\n", cmd, wrLen );
+
+ return I2cTransfer( i2cDev, cmd, wrByte, wrLen, NULL, 0, NULL );
+
+} // I2cWriteBytes
+
+//***************************************************************************
+/**
+* Uses the SMBUS Receive-Byte protocol to read a byte.
+*/
+
+int I2cReceiveByte
+(
+ int i2cDev, ///< Handle to i2c-dev file
+ uint8_t *rdByte ///< Place to store byte read
+)
+{
+ return I2cReceiveBytes( i2cDev, rdByte, 1 );
+
+} // I2cReceiveByte
+
+//***************************************************************************
+/**
+* Uses the SMBUS Receive-Byte protocol to read multiple (or one or zero) bytes.
+*/
+
+int I2cReceiveBytes
+(
+ int i2cDev, ///< Handle to i2c-dev file
+ uint8_t *rdData, ///< Place to store data read
+ uint8_t rdLen ///< Number of bytes to read
+)
+{
+ struct i2c_rdwr_ioctl_data rdwr;
+ struct i2c_msg msg;
+
+ LogDebug( "----- I2cReceiveBytes -----\n" );
+
+ msg.addr = gI2cAddr;
+ msg.flags = I2C_M_RD;
+ msg.len = rdLen;
+ msg.buf = (char *)rdData;
+
+ rdwr.msgs = &msg;
+ rdwr.nmsgs = 1;
+
+ if ( ioctl( i2cDev, I2C_RDWR, &rdwr ) < 0 )
+ {
+ LogError( "I2cReceiveBytes: ioctl failed: %s (%d)\n", strerror( errno ), errno );
+ return -1;
+ }
+
+ return 0;
+
+} // I2cReceiveBytes
+
+//***************************************************************************
+/**
+* Uses the SMBUS Send-Byte protocol to write a byte.
+*/
+
+int I2cSendByte
+(
+ int i2cDev, ///< Handle to i2c-dev file
+ uint8_t wrByte ///< Byte to write
+)
+{
+ return I2cSendBytes( i2cDev, &wrByte, 1 );
+
+} // I2cSendByte
+
+//***************************************************************************
+/**
+* Uses the SMBUS Send-Byte protocol to write multiple (or zero or one) bytes.
+*/
+
+int I2cSendBytes
+(
+ int i2cDev, ///< Handle to i2c-dev file
+ uint8_t *wrData, ///< Pointer to data to write
+ uint8_t wrLen ///< NUmber of bytes to write
+)
+{
+ struct i2c_rdwr_ioctl_data rdwr;
+ struct i2c_msg msg;
+
+ LogDebug( "----- I2cSendBytes wrLen = 0x%02x -----\n", wrLen );
+
+ msg.addr = gI2cAddr;
+ msg.flags = 0;
+ msg.len = wrLen;
+ msg.buf = (char *)wrData;
+
+ rdwr.msgs = &msg;
+ rdwr.nmsgs = 1;
+
+ if ( ioctl( i2cDev, I2C_RDWR, &rdwr ) < 0 )
+ {
+ LogError( "I2cSendBytes: ioctl failed: %s (%d)\n", strerror( errno ), errno );
+ return -1;
+ }
+
+ return 0;
+
+} // I2cSendBytes
+
--- /dev/null
+/****************************************************************************
+*
+* Copyright (c) 2006 Dave Hylands <dhylands@gmail.com>
+*
+* 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.
+*
+* Alternatively, this software may be distributed under the terms of BSD
+* license.
+*
+* See README and COPYING for more details.
+*
+****************************************************************************/
+/**
+*
+* @file i2c-api.h
+*
+* @brief This file contains definitions for performing i2c operations
+* on the gumstix.
+*
+****************************************************************************/
+
+#if !defined( I2C_API_H )
+#define I2C_API_H
+
+// ---- Include Files -------------------------------------------------------
+
+#include <inttypes.h>
+#include "i2c.h"
+
+// ---- Constants and Types -------------------------------------------------
+
+#define I2C_USE_CRC 1
+#define I2C_NO_CRC 0
+
+// ---- Variable Externs ----------------------------------------------------
+
+// ---- Function Prototypes -------------------------------------------------
+
+void I2cSetSlaveAddress
+(
+ int i2cDev, ///< Handle to i2c-dev file
+ I2C_Addr_t i2cAddr, ///< 7 bit i2c address to use
+ int useCrc ); ///< Should CRC's be used?
+
+int I2cTransfer
+(
+ int i2cDev, ///< Handle to i2c-dev file
+ uint8_t cmd, ///< Command to send
+ const void *wrData, ///< Data to write
+ uint8_t wrLen, ///< Number of bytes to write (or in 0x80 for a block write)
+ void *rdData, ///< Place to store data read
+ uint8_t rdLen, ///< Number of bytes to read (or in 0x80 for a block read)
+ uint8_t *bytesReadp ///< Place to store number of bytes read
+);
+
+int I2cProcessBlock
+(
+ int i2cDev, ///< Handle to i2c-dev file
+ uint8_t cmd, ///< Command to send
+ const void *wrData, ///< Data to write
+ uint8_t wrLen, ///< Number of bytes to write
+ void *rdData, ///< Place to store data read
+ uint8_t rdLen, ///< Number of bytes to read
+ uint8_t *bytesReadp ///< Place to store number of bytes read
+);
+
+int I2cReadBlock
+(
+ int i2cDev, ///< Handle to i2c-dev file
+ uint8_t cmd, ///< Command to send
+ void *rdData, ///< Place to store data read
+ uint8_t rdLen, ///< Number of bytes to read
+ uint8_t *bytesReadp ///< Place to store number of bytes read
+);
+
+int I2cReadByte
+(
+ int i2cDev, ///< Handle to i2c-dev file
+ uint8_t cmd, ///< Command to send
+ uint8_t *rdByte ///< Place to store byte to read
+);
+
+int I2cReadBytes
+(
+ int i2cDev, ///< Handle to i2c-dev file
+ uint8_t cmd, ///< Command to send
+ void *rdByte, ///< Place to store bytes read
+ uint8_t rdLen ///< Number of bytes to read
+);
+
+int I2cWriteBlock
+(
+ int i2cDev, ///< Handle to i2c-dev file
+ uint8_t cmd, ///< Command to send
+ const void *wrData, ///< Data to write
+ uint8_t wrLen ///< Number of bytes to write
+);
+
+int I2cWriteByte
+(
+ int i2cDev, ///< Handle to i2c-dev file
+ uint8_t cmd, ///< Command to send
+ uint8_t wrByte ///< Byte to write
+);
+
+int I2cWriteBytes
+(
+ int i2cDev, ///< Handle to i2c-dev file
+ uint8_t cmd, ///< Command to send
+ const void *wrByte, ///< Bytes to write
+ uint8_t wrLen ///< Number of bytes to write
+);
+
+int I2cReceiveByte
+(
+ int i2cDev, ///< Handle to i2c-dev file
+ uint8_t *rdByte ///< Place to store byte read
+);
+
+int I2cReceiveBytes
+(
+ int i2cDev, ///< Handle to i2c-dev file
+ uint8_t *rdData, ///< Place to store byte read
+ uint8_t rdLen ///< Number of bytes to read
+);
+
+int I2cSendByte
+(
+ int i2cDev, ///< Handle to i2c-dev file
+ uint8_t wrByte ///< Byte to write
+);
+
+int I2cSendBytes
+(
+ int i2cDev, ///< Handle to i2c-dev file
+ uint8_t *wrData, ///< Pointer to data to write.
+ uint8_t wrLen ///< Number of bytes to write.
+);
+
+#endif // I2C_API_H
+
--- /dev/null
+/*
+ i2c-dev.h - i2c-bus driver, char device interface
+
+ Copyright (C) 1995-97 Simon G. Vogl
+ Copyright (C) 1998-99 Frodo Looijaard <frodol@dds.nl>
+
+ 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., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+/* $Id: i2c-dev.h,v 1.4 2003/11/27 23:08:06 tat Exp $ */
+
+#ifndef LIB_I2CDEV_H
+#define LIB_I2CDEV_H
+
+#include <linux/types.h>
+#include <sys/ioctl.h>
+
+
+/* -- i2c.h -- */
+
+
+/*
+ * I2C Message - used for pure i2c transaction, also from /dev interface
+ */
+struct i2c_msg {
+ __u16 addr; /* slave address */
+ unsigned short flags;
+#define I2C_M_TEN 0x10 /* we have a ten bit chip address */
+#define I2C_M_RD 0x01
+#define I2C_M_NOSTART 0x4000
+#define I2C_M_REV_DIR_ADDR 0x2000
+#define I2C_M_IGNORE_NAK 0x1000
+#define I2C_M_NO_RD_ACK 0x0800
+ short len; /* msg length */
+ char *buf; /* pointer to msg data */
+};
+
+/* To determine what functionality is present */
+
+#define I2C_FUNC_I2C 0x00000001
+#define I2C_FUNC_10BIT_ADDR 0x00000002
+#define I2C_FUNC_PROTOCOL_MANGLING 0x00000004 /* I2C_M_{REV_DIR_ADDR,NOSTART,..} */
+#define I2C_FUNC_SMBUS_HWPEC_CALC 0x00000008 /* SMBus 2.0 */
+#define I2C_FUNC_SMBUS_READ_WORD_DATA_PEC 0x00000800 /* SMBus 2.0 */
+#define I2C_FUNC_SMBUS_WRITE_WORD_DATA_PEC 0x00001000 /* SMBus 2.0 */
+#define I2C_FUNC_SMBUS_PROC_CALL_PEC 0x00002000 /* SMBus 2.0 */
+#define I2C_FUNC_SMBUS_BLOCK_PROC_CALL_PEC 0x00004000 /* SMBus 2.0 */
+#define I2C_FUNC_SMBUS_BLOCK_PROC_CALL 0x00008000 /* SMBus 2.0 */
+#define I2C_FUNC_SMBUS_QUICK 0x00010000
+#define I2C_FUNC_SMBUS_READ_BYTE 0x00020000
+#define I2C_FUNC_SMBUS_WRITE_BYTE 0x00040000
+#define I2C_FUNC_SMBUS_READ_BYTE_DATA 0x00080000
+#define I2C_FUNC_SMBUS_WRITE_BYTE_DATA 0x00100000
+#define I2C_FUNC_SMBUS_READ_WORD_DATA 0x00200000
+#define I2C_FUNC_SMBUS_WRITE_WORD_DATA 0x00400000
+#define I2C_FUNC_SMBUS_PROC_CALL 0x00800000
+#define I2C_FUNC_SMBUS_READ_BLOCK_DATA 0x01000000
+#define I2C_FUNC_SMBUS_WRITE_BLOCK_DATA 0x02000000
+#define I2C_FUNC_SMBUS_READ_I2C_BLOCK 0x04000000 /* I2C-like block xfer */
+#define I2C_FUNC_SMBUS_WRITE_I2C_BLOCK 0x08000000 /* w/ 1-byte reg. addr. */
+#define I2C_FUNC_SMBUS_READ_I2C_BLOCK_2 0x10000000 /* I2C-like block xfer */
+#define I2C_FUNC_SMBUS_WRITE_I2C_BLOCK_2 0x20000000 /* w/ 2-byte reg. addr. */
+#define I2C_FUNC_SMBUS_READ_BLOCK_DATA_PEC 0x40000000 /* SMBus 2.0 */
+#define I2C_FUNC_SMBUS_WRITE_BLOCK_DATA_PEC 0x80000000 /* SMBus 2.0 */
+
+#define I2C_FUNC_SMBUS_BYTE I2C_FUNC_SMBUS_READ_BYTE | \
+ I2C_FUNC_SMBUS_WRITE_BYTE
+#define I2C_FUNC_SMBUS_BYTE_DATA I2C_FUNC_SMBUS_READ_BYTE_DATA | \
+ I2C_FUNC_SMBUS_WRITE_BYTE_DATA
+#define I2C_FUNC_SMBUS_WORD_DATA I2C_FUNC_SMBUS_READ_WORD_DATA | \
+ I2C_FUNC_SMBUS_WRITE_WORD_DATA
+#define I2C_FUNC_SMBUS_BLOCK_DATA I2C_FUNC_SMBUS_READ_BLOCK_DATA | \
+ I2C_FUNC_SMBUS_WRITE_BLOCK_DATA
+#define I2C_FUNC_SMBUS_I2C_BLOCK I2C_FUNC_SMBUS_READ_I2C_BLOCK | \
+ I2C_FUNC_SMBUS_WRITE_I2C_BLOCK
+#define I2C_FUNC_SMBUS_I2C_BLOCK_2 I2C_FUNC_SMBUS_READ_I2C_BLOCK_2 | \
+ I2C_FUNC_SMBUS_WRITE_I2C_BLOCK_2
+#define I2C_FUNC_SMBUS_BLOCK_DATA_PEC I2C_FUNC_SMBUS_READ_BLOCK_DATA_PEC | \
+ I2C_FUNC_SMBUS_WRITE_BLOCK_DATA_PEC
+#define I2C_FUNC_SMBUS_WORD_DATA_PEC I2C_FUNC_SMBUS_READ_WORD_DATA_PEC | \
+ I2C_FUNC_SMBUS_WRITE_WORD_DATA_PEC
+
+#define I2C_FUNC_SMBUS_READ_BYTE_PEC I2C_FUNC_SMBUS_READ_BYTE_DATA
+#define I2C_FUNC_SMBUS_WRITE_BYTE_PEC I2C_FUNC_SMBUS_WRITE_BYTE_DATA
+#define I2C_FUNC_SMBUS_READ_BYTE_DATA_PEC I2C_FUNC_SMBUS_READ_WORD_DATA
+#define I2C_FUNC_SMBUS_WRITE_BYTE_DATA_PEC I2C_FUNC_SMBUS_WRITE_WORD_DATA
+#define I2C_FUNC_SMBUS_BYTE_PEC I2C_FUNC_SMBUS_BYTE_DATA
+#define I2C_FUNC_SMBUS_BYTE_DATA_PEC I2C_FUNC_SMBUS_WORD_DATA
+
+#define I2C_FUNC_SMBUS_EMUL I2C_FUNC_SMBUS_QUICK | \
+ I2C_FUNC_SMBUS_BYTE | \
+ I2C_FUNC_SMBUS_BYTE_DATA | \
+ I2C_FUNC_SMBUS_WORD_DATA | \
+ I2C_FUNC_SMBUS_PROC_CALL | \
+ I2C_FUNC_SMBUS_WRITE_BLOCK_DATA | \
+ I2C_FUNC_SMBUS_WRITE_BLOCK_DATA_PEC | \
+ I2C_FUNC_SMBUS_I2C_BLOCK
+
+/*
+ * Data for SMBus Messages
+ */
+#define I2C_SMBUS_BLOCK_MAX 32 /* As specified in SMBus standard */
+#define I2C_SMBUS_I2C_BLOCK_MAX 32 /* Not specified but we use same structure */
+union i2c_smbus_data {
+ __u8 byte;
+ __u16 word;
+ __u8 block[I2C_SMBUS_BLOCK_MAX + 3]; /* block[0] is used for length */
+ /* one more for read length in block process call */
+ /* and one more for PEC */
+};
+
+/* smbus_access read or write markers */
+#define I2C_SMBUS_READ 1
+#define I2C_SMBUS_WRITE 0
+
+/* SMBus transaction types (size parameter in the above functions)
+ Note: these no longer correspond to the (arbitrary) PIIX4 internal codes! */
+#define I2C_SMBUS_QUICK 0
+#define I2C_SMBUS_BYTE 1
+#define I2C_SMBUS_BYTE_DATA 2
+#define I2C_SMBUS_WORD_DATA 3
+#define I2C_SMBUS_PROC_CALL 4
+#define I2C_SMBUS_BLOCK_DATA 5
+#define I2C_SMBUS_I2C_BLOCK_DATA 6
+#define I2C_SMBUS_BLOCK_PROC_CALL 7 /* SMBus 2.0 */
+#define I2C_SMBUS_BLOCK_DATA_PEC 8 /* SMBus 2.0 */
+#define I2C_SMBUS_PROC_CALL_PEC 9 /* SMBus 2.0 */
+#define I2C_SMBUS_BLOCK_PROC_CALL_PEC 10 /* SMBus 2.0 */
+#define I2C_SMBUS_WORD_DATA_PEC 11 /* SMBus 2.0 */
+
+
+/* ----- commands for the ioctl like i2c_command call:
+ * note that additional calls are defined in the algorithm and hw
+ * dependent layers - these can be listed here, or see the
+ * corresponding header files.
+ */
+ /* -> bit-adapter specific ioctls */
+#define I2C_RETRIES 0x0701 /* number of times a device address */
+ /* should be polled when not */
+ /* acknowledging */
+#define I2C_TIMEOUT 0x0702 /* set timeout - call with int */
+
+
+/* this is for i2c-dev.c */
+#define I2C_SLAVE 0x0703 /* Change slave address */
+ /* Attn.: Slave address is 7 or 10 bits */
+#define I2C_SLAVE_FORCE 0x0706 /* Change slave address */
+ /* Attn.: Slave address is 7 or 10 bits */
+ /* This changes the address, even if it */
+ /* is already taken! */
+#define I2C_TENBIT 0x0704 /* 0 for 7 bit addrs, != 0 for 10 bit */
+
+#define I2C_FUNCS 0x0705 /* Get the adapter functionality */
+#define I2C_RDWR 0x0707 /* Combined R/W transfer (one stop only)*/
+#define I2C_PEC 0x0708 /* != 0 for SMBus PEC */
+#if 0
+#define I2C_ACK_TEST 0x0710 /* See if a slave is at a specific address */
+#endif
+
+#define I2C_SMBUS 0x0720 /* SMBus-level access */
+
+/* -- i2c.h -- */
+
+
+/* Note: 10-bit addresses are NOT supported! */
+
+/* This is the structure as used in the I2C_SMBUS ioctl call */
+struct i2c_smbus_ioctl_data {
+ char read_write;
+ __u8 command;
+ int size;
+ union i2c_smbus_data *data;
+};
+
+/* This is the structure as used in the I2C_RDWR ioctl call */
+struct i2c_rdwr_ioctl_data {
+ struct i2c_msg *msgs; /* pointers to i2c_msgs */
+ int nmsgs; /* number of i2c_msgs */
+};
+
+
+static inline __s32 i2c_smbus_access(int file, char read_write, __u8 command,
+ int size, union i2c_smbus_data *data)
+{
+ struct i2c_smbus_ioctl_data args;
+ int rc;
+
+ args.read_write = read_write;
+ args.command = command;
+ args.size = size;
+ args.data = data;
+
+ rc = ioctl(file,I2C_SMBUS,&args);
+
+ return rc;
+}
+
+
+static inline __s32 i2c_smbus_write_quick(int file, __u8 value)
+{
+ return i2c_smbus_access(file,value,0,I2C_SMBUS_QUICK,NULL);
+}
+
+static inline __s32 i2c_smbus_read_byte(int file)
+{
+ union i2c_smbus_data data;
+ if (i2c_smbus_access(file,I2C_SMBUS_READ,0,I2C_SMBUS_BYTE,&data))
+ return -1;
+ else
+ return 0x0FF & data.byte;
+}
+
+static inline __s32 i2c_smbus_write_byte(int file, __u8 value)
+{
+ return i2c_smbus_access(file,I2C_SMBUS_WRITE,value,
+ I2C_SMBUS_BYTE,NULL);
+}
+
+static inline __s32 i2c_smbus_read_byte_data(int file, __u8 command)
+{
+ union i2c_smbus_data data;
+ if (i2c_smbus_access(file,I2C_SMBUS_READ,command,
+ I2C_SMBUS_BYTE_DATA,&data))
+ return -1;
+ else
+ return 0x0FF & data.byte;
+}
+
+static inline __s32 i2c_smbus_write_byte_data(int file, __u8 command,
+ __u8 value)
+{
+ union i2c_smbus_data data;
+ data.byte = value;
+ return i2c_smbus_access(file,I2C_SMBUS_WRITE,command,
+ I2C_SMBUS_BYTE_DATA, &data);
+}
+
+static inline __s32 i2c_smbus_read_word_data(int file, __u8 command)
+{
+ union i2c_smbus_data data;
+ if (i2c_smbus_access(file,I2C_SMBUS_READ,command,
+ I2C_SMBUS_WORD_DATA,&data))
+ return -1;
+ else
+ return 0x0FFFF & data.word;
+}
+
+static inline __s32 i2c_smbus_write_word_data(int file, __u8 command,
+ __u16 value)
+{
+ union i2c_smbus_data data;
+ data.word = value;
+ return i2c_smbus_access(file,I2C_SMBUS_WRITE,command,
+ I2C_SMBUS_WORD_DATA, &data);
+}
+
+static inline __s32 i2c_smbus_process_call(int file, __u8 command, __u16 value)
+{
+ union i2c_smbus_data data;
+ data.word = value;
+ if (i2c_smbus_access(file,I2C_SMBUS_WRITE,command,
+ I2C_SMBUS_PROC_CALL,&data))
+ return -1;
+ else
+ return 0x0FFFF & data.word;
+}
+
+
+/* Returns the number of read bytes */
+static inline __s32 i2c_smbus_read_block_data(int file, __u8 command,
+ __u8 *values)
+{
+ union i2c_smbus_data data;
+ int i;
+ if (i2c_smbus_access(file,I2C_SMBUS_READ,command,
+ I2C_SMBUS_BLOCK_DATA,&data))
+ return -1;
+ else {
+ for (i = 1; i <= data.block[0]; i++)
+ values[i-1] = data.block[i];
+ return data.block[0];
+ }
+}
+
+static inline __s32 i2c_smbus_write_block_data(int file, __u8 command,
+ __u8 length, __u8 *values)
+{
+ union i2c_smbus_data data;
+ int i;
+ if (length > 32)
+ length = 32;
+ for (i = 1; i <= length; i++)
+ data.block[i] = values[i-1];
+ data.block[0] = length;
+ return i2c_smbus_access(file,I2C_SMBUS_WRITE,command,
+ I2C_SMBUS_BLOCK_DATA, &data);
+}
+
+/* Returns the number of read bytes */
+static inline __s32 i2c_smbus_read_i2c_block_data(int file, __u8 command,
+ __u8 *values)
+{
+ union i2c_smbus_data data;
+ int i;
+ if (i2c_smbus_access(file,I2C_SMBUS_READ,command,
+ I2C_SMBUS_I2C_BLOCK_DATA,&data))
+ return -1;
+ else {
+ for (i = 1; i <= data.block[0]; i++)
+ values[i-1] = data.block[i];
+ return data.block[0];
+ }
+}
+
+static inline __s32 i2c_smbus_write_i2c_block_data(int file, __u8 command,
+ __u8 length, __u8 *values)
+{
+ union i2c_smbus_data data;
+ int i;
+ if (length > 32)
+ length = 32;
+ for (i = 1; i <= length; i++)
+ data.block[i] = values[i-1];
+ data.block[0] = length;
+ return i2c_smbus_access(file,I2C_SMBUS_WRITE,command,
+ I2C_SMBUS_I2C_BLOCK_DATA, &data);
+}
+
+/* Returns the number of read bytes */
+static inline __s32 i2c_smbus_block_process_call(int file, __u8 command,
+ __u8 length, __u8 *values)
+{
+ union i2c_smbus_data data;
+ int i;
+ if (length > 32)
+ length = 32;
+ for (i = 1; i <= length; i++)
+ data.block[i] = values[i-1];
+ data.block[0] = length;
+ i = i2c_smbus_access(file,I2C_SMBUS_WRITE,command,
+ I2C_SMBUS_BLOCK_PROC_CALL,&data);
+ if ( i )
+ return -1;
+ else {
+ for (i = 1; i <= data.block[0]; i++)
+ values[i-1] = data.block[i];
+ return data.block[0];
+ }
+}
+
+
+#endif /* LIB_I2CDEV_H */
+
--- /dev/null
+/****************************************************************************
+*
+* Copyright (c) 2006 Dave Hylands <dhylands@gmail.com>
+*
+* 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.
+*
+* Alternatively, this software may be distributed under the terms of BSD
+* license.
+*
+* See README and COPYING for more details.
+*
+****************************************************************************/
+/**
+*
+* @file i2c-io-api.h
+*
+* @brief This file contains definitions for performing i2c-io operations
+* on the gumstix.
+*
+****************************************************************************/
+
+#if !defined( I2C_IO_API_H )
+#define I2C_IO_API_H
+
+// ---- Include Files -------------------------------------------------------
+
+#include <inttypes.h>
+#include "i2c-io.h"
+
+// ---- Constants and Types -------------------------------------------------
+
+// ---- Variable Externs ----------------------------------------------------
+
+// ---- Function Prototypes -------------------------------------------------
+
+int I2C_IO_CheckVersion( const I2C_IO_Info_t *info );
+
+int I2C_IO_GetInfo( int i2cDev, I2C_IO_Info_t *info );
+int I2C_IO_GetGPIO( int i2cDev, uint8_t portNum, uint8_t *pinVal );
+int I2C_IO_SetGPIO( int i2cDev, uint8_t portNum, uint8_t pinMask, uint8_t pinVal );
+int I2C_IO_GetGPIODir( int i2cDev, uint8_t portNum, uint8_t *pinVal );
+int I2C_IO_SetGPIODir( int i2cDev, uint8_t portNum, uint8_t pinMask, uint8_t pinVal );
+int I2C_IO_GetADC( int i2cDev, uint8_t mux, uint16_t *adcVal );
+int I2C_IO_ReadReg8( int i2cDev, uint8_t reg, uint8_t *regVal );
+int I2C_IO_ReadReg16( int i2cDev, uint8_t reg, uint16_t *regVal );
+int I2C_IO_WriteReg8( int i2cDev, uint8_t reg, uint8_t regVal );
+int I2C_IO_WriteReg16( int i2cDev, uint8_t reg, uint16_t regVal );
+
+#endif // I2C_IO_API_H
+
--- /dev/null
+/****************************************************************************
+*
+* Copyright (c) 2006 Dave Hylands <dhylands@gmail.com>
+*
+* 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.
+*
+* Alternatively, this software may be distributed under the terms of BSD
+* license.
+*
+* See README and COPYING for more details.
+*
+****************************************************************************/
+/**
+*
+* @file i2c-io.h
+*
+* @brief This file defines the interface to the i2c-io program which
+* runs on the robostix.
+*
+*****************************************************************************/
+
+#if !defined( I2C_IO_H )
+#define I2C_IO_H /**< Include Guard */
+
+/* ---- Include Files ---------------------------------------------------- */
+
+/* ---- Constants and Types ---------------------------------------------- */
+
+//---------------------------------------------------------------------------
+/**
+ * Defines the version of this API. This includes the layout of the
+ * various structures, along with the semantics associated with the
+ * protocol. Any changes require the version number to be incremented.
+ *
+ * Version 2 - Introduced READ/WRITE_REG_8/16
+ */
+
+#define I2C_IO_API_VERSION 2
+
+//---------------------------------------------------------------------------
+/**
+ * The min version, determines the minimum version that this API is
+ * compatable with. This allows old host side programs to determine
+ * that they're not compatible.
+ */
+
+#define I2C_IO_API_MIN_VERSION 1
+
+
+//---------------------------------------------------------------------------
+/**
+* The I2C_IO_GET_INFO command retrieves information about the i2c-io
+* program running on the robostix.
+*/
+
+#define I2C_IO_GET_INFO 0x01
+
+typedef struct
+{
+ uint8_t version;
+ uint8_t minVersion;
+ uint16_t svnRevision;
+
+} I2C_IO_Info_t;
+
+//---------------------------------------------------------------------------
+/**
+* The I2C_IO_GET_GPIO command retrieves the values of the pins indicated
+* by portNum.
+*
+* The portNum is set such that 0 = A, 1 = B, etc.
+*
+* A block-reply with a single 8 bit value is returned.
+*/
+
+typedef struct
+{
+ uint8_t portNum;
+
+} I2C_IO_Get_GPIO_t;
+
+#define I2C_IO_GET_GPIO 0x02
+
+//---------------------------------------------------------------------------
+/**
+* The I2C_IO_SET_GPIO command sets the values of the pins specified
+* by pinMask to the correponding bits in ponVal.
+*
+* Note: Setting a pin that's configured for input will enable a pullup
+* resistor.
+*
+* The portNum is set such that 0 = A, 1 = B, etc.
+*/
+
+typedef struct
+{
+ uint8_t portNum;
+ uint8_t pinMask;
+ uint8_t pinVal;
+
+} I2C_IO_Set_GPIO_t;
+
+#define I2C_IO_SET_GPIO 0x03
+
+//---------------------------------------------------------------------------
+/**
+* The I2C_IO_GET_GPIO_DIR command retrieves the data direction
+* register (DDR) for the indicated portNum.
+*
+* The I2C_IO_Get_GPIO_t structure is used for this command.
+*
+* Note: It's ok to read the values of pins which are set for output.
+*
+* The portNum is set such that 0 = A, 1 = B, etc.
+*
+* A block-reply with a single 8 bit value is returned.
+* A 1 bit means that the pin is set for output and a 0 bit means that
+* the pin is set for input.
+*/
+
+#define I2C_IO_GET_GPIO_DIR 0x04
+
+//---------------------------------------------------------------------------
+/**
+* The I2C_IO_SET_GPIO_DIR command sets the data direction
+* register (DDR) for the indicated portNum.
+*
+* The I2C_IO_Set_GPIO_t structure is used for this command.
+*
+* The portNum is set such that 0 = A, 1 = B, etc.
+*/
+
+#define I2C_IO_SET_GPIO_DIR 0x05
+
+//---------------------------------------------------------------------------
+/**
+* The I2C_IO_GET_ADC command performs an ADC sample and returns the result.
+*
+* mux values 0 thru 7 read singled ended ADC values. Values 8 thru 31
+* return a variety of values. See the data sheet for specifics.
+*
+* A block-reply with a 16 bit value is returned, although only the
+* lower 10 bits are significant.
+*/
+
+typedef struct
+{
+ uint8_t mux;
+
+} I2C_IO_Get_ADC_t;
+
+#define I2C_IO_GET_ADC 0x06
+
+//---------------------------------------------------------------------------
+/**
+* The I2C_IO_READ_REG_8 command reads a 8-bit register.
+*
+* A block reply with an 8 bit value is returned.
+*/
+
+typedef struct
+{
+ uint8_t reg; ///< Index of the register to be read.
+
+} I2C_IO_ReadReg8_t;
+
+#define I2C_IO_READ_REG_8 0x07
+
+//---------------------------------------------------------------------------
+/**
+* The I2C_IO_READ_REG_16 command reads a 16-bit register.
+*
+* A block reply with a 16 bit value is returned.
+*/
+
+typedef struct
+{
+ uint8_t reg; ///< Index of the register to be read.
+
+} I2C_IO_ReadReg16_t;
+
+#define I2C_IO_READ_REG_16 0x08
+
+//---------------------------------------------------------------------------
+/**
+* The I2C_IO_WRITE_REG_8 command writes an 8-bit register.
+*/
+
+typedef struct
+{
+ uint8_t reg; ///< Index of the register to be read.
+ uint8_t val; ///< Value to write into the register
+
+} I2C_IO_WriteReg8_t;
+
+#define I2C_IO_WRITE_REG_8 0x09
+
+//---------------------------------------------------------------------------
+/**
+* The I2C_IO_WRITE_REG_16 command writes a 16-bit register.
+*/
+
+typedef struct
+{
+ uint8_t reg; ///< Index of the register to be read.
+ uint8_t pad; ///< Pad for alignment on the host.
+ uint16_t val; ///< Value to write
+
+} I2C_IO_WriteReg16_t;
+
+#define I2C_IO_WRITE_REG_16 0x0A
+
+/* ---- Variable Externs ------------------------------------------------- */
+
+/* ---- Function Prototypes ---------------------------------------------- */
+
+#endif /* I2C_IO_H */
+
--- /dev/null
+/****************************************************************************
+*
+* Copyright (c) 2006 Dave Hylands <dhylands@gmail.com>
+*
+* 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.
+*
+* Alternatively, this software may be distributed under the terms of BSD
+* license.
+*
+* See README and COPYING for more details.
+*
+****************************************************************************/
+/**
+*
+* @file i2c.c
+*
+* @brief This program allows basic i2c commands to be sent out the i2c
+* bus,
+*
+****************************************************************************/
+
+// ---- Include Files -------------------------------------------------------
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <getopt.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <string.h>
+#include <signal.h>
+#include <unistd.h>
+#include <sys/timeb.h>
+
+#include "i2c-dev.h"
+#include "i2c-api.h"
+#include "i2c-io-api.h"
+#include "Log.h"
+
+// #include "svn-version.h"
+
+// ---- Public Variables ----------------------------------------------------
+// ---- Private Constants and Types -----------------------------------------
+
+// ---- Private Variables ---------------------------------------------------
+
+enum
+{
+ OPT_MEM_DEFAULT = 0,
+
+ // Options assigned a single character code can use that charater code
+ // as a short option.
+
+ OPT_COUNT = 'c',
+
+ // Options from this point onwards don't have any short option equivalents
+
+ OPT_FIRST_LONG_OPT = 0x80,
+
+ OPT_HELP,
+ OPT_VERSION,
+};
+
+enum
+{
+ CMD_DEFAULT,
+
+ CMD_READ_BYTE,
+ CMD_READ_BYTE_2,
+ CMD_READ_BYTE_4,
+
+ CMD_WRITE_BYTE,
+ CMD_WRITE_BYTE_2,
+ CMD_WRITE_BYTE_4,
+
+ CMD_RECV_BYTE,
+ CMD_RECV_BYTE_2,
+ CMD_RECV_BYTE_4,
+
+ CMD_SEND_BYTE,
+ CMD_SEND_BYTE_2,
+ CMD_SEND_BYTE_4,
+};
+
+struct
+{
+ int cmd;
+ const char *cmdStr;
+
+} gCmdMap[] =
+{
+ { CMD_READ_BYTE, "ReadByte" },
+ { CMD_READ_BYTE, "rb" },
+ { CMD_READ_BYTE_2, "ReadByte2" },
+ { CMD_READ_BYTE_2, "rb2" },
+ { CMD_READ_BYTE_4, "ReadByte4" },
+ { CMD_READ_BYTE_4, "rb4" },
+
+ { CMD_WRITE_BYTE, "WriteByte" },
+ { CMD_WRITE_BYTE, "wb" },
+ { CMD_WRITE_BYTE_2, "WriteByte2" },
+ { CMD_WRITE_BYTE_2, "wb2" },
+ { CMD_WRITE_BYTE_4, "WriteByte4" },
+ { CMD_WRITE_BYTE_4, "wb4" },
+
+ { CMD_RECV_BYTE, "RecvByte" },
+ { CMD_RECV_BYTE, "vb" },
+ { CMD_RECV_BYTE_2, "RecvByte2" },
+ { CMD_RECV_BYTE_2, "vb2" },
+ { CMD_RECV_BYTE_4, "RecvByte4" },
+ { CMD_RECV_BYTE_4, "vb4" },
+
+ { CMD_SEND_BYTE, "SendByte" },
+ { CMD_SEND_BYTE, "sb" },
+ { CMD_SEND_BYTE_2, "SendByte2" },
+ { CMD_SEND_BYTE_2, "sb2" },
+ { CMD_SEND_BYTE_4, "SendByte4" },
+ { CMD_SEND_BYTE_4, "sb4" },
+};
+
+int gNumCmds = sizeof( gCmdMap ) / sizeof( gCmdMap[ 0 ]);
+
+int gI2cAddr = -1;
+int gByteCount = 1;
+
+const char *gCmdStr;
+int gCmd = CMD_DEFAULT;
+const char *gAddrStr = NULL;
+const char *gDataStr = NULL;
+
+struct option gOption[] =
+{
+ { "count", required_argument, NULL, OPT_COUNT },
+ { "version", no_argument, NULL, OPT_VERSION },
+ { "verbose", no_argument, &gVerbose, 1 },
+ { "debug", no_argument, &gDebug, 1 },
+ { "help", no_argument, NULL, OPT_HELP },
+ { NULL }
+};
+
+#define TRUE 1
+#define FALSE 0
+
+typedef enum
+{
+ NoADC,
+ AllowADC,
+
+} AllowADC_t;
+
+#define ADC_PORT 8
+
+// ---- Private Function Prototypes -----------------------------------------
+
+static int ParseByte( const char *byteStr, uint8_t *byte );
+static int ParseBytes( const char *byteStr, uint8_t *byte, uint8_t maxBytes, uint8_t *bytesParsed );
+
+static void ProcessReadByteCommand( int i2cDev, const char *addrStr );
+static void ProcessWriteByteCommand( int i2cDev, const char *addrStr, const char *dataStr );
+static void ProcessRecvByteCommand( int i2cDev );
+static void ProcessSendByteCommand( int i2cDev, const char *dataStr );
+static void Usage( void );
+
+// ---- Functions -----------------------------------------------------------
+
+//***************************************************************************
+/**
+* Main entry point
+*/
+
+int main( int argc, char **argv )
+{
+ char shortOptsStr[ sizeof( gOption ) / sizeof( gOption[ 0 ] ) + 1 ];
+ char *shortOpts = shortOptsStr;
+ struct option *scanOpt;
+ int opt;
+ const char *i2cDevName = "/dev/i2c-0";
+ int i2cDev;
+ int cmdIdx;
+
+ LogInit( stdout );
+
+ // Figure out the short options from our options structure
+
+ for ( scanOpt = gOption; scanOpt->name != NULL; scanOpt++ )
+ {
+ if (( scanOpt->flag == NULL ) && ( scanOpt->val < OPT_FIRST_LONG_OPT ))
+ {
+ *shortOpts++ = (char)scanOpt->val;
+
+ if ( scanOpt->has_arg != no_argument )
+ {
+ *shortOpts++ = ':';
+ }
+ }
+ }
+ *shortOpts++ = '\0';
+
+ // Parse the command line options
+
+ while (( opt = getopt_long( argc, argv, shortOptsStr, gOption, NULL )) != -1 )
+ {
+ switch ( opt )
+ {
+ case 0:
+ {
+ // getopt_long returns 0 for entries where flag is non-NULL
+
+ break;
+ }
+
+ case OPT_COUNT:
+ {
+ gByteCount = (int)strtol( optarg, NULL, 0 );
+ if ( gByteCount <= 0 )
+ {
+ LogError( "Expecting byte count >= 0, found: '%s'\n", optarg );
+ Usage();
+ exit( 1 );
+ }
+ if ( gByteCount > I2C_MAX_DATA_LEN )
+ {
+ LogError( "Max byte count supported: %d, found %d\n", I2C_MAX_DATA_LEN, gByteCount );
+ Usage();
+ exit( 1 );
+ }
+ break;
+ }
+
+// case OPT_VERSION:
+// {
+// Log( "i2c SVN Revision: %d\n", SVN_REVISION );
+// exit( 0 );
+// break;
+// }
+
+ case '?':
+ case OPT_HELP:
+ default:
+ {
+ LogError( "opt:%d\n", opt );
+ Usage();
+ exit( 1 );
+ }
+ }
+ }
+ argc -= optind;
+ argv += optind;
+
+ // Verify that an i2c-address was specified
+
+ if ( argc < 1 )
+ {
+ LogError( "Must specify an i2c address\n\n" );
+ Usage();
+ exit( 1 );
+ }
+ gI2cAddr = strtol( argv[ 0 ], NULL, 0 );
+ if (( gI2cAddr <= 0 ) || ( gI2cAddr > 127 ))
+ {
+ LogError( "Expecting i2c address in the range of 1-127, Found: %d\n", gI2cAddr );
+ Usage();
+ exit( 1 );
+ }
+
+ // Verify that a command has been specified
+
+ if ( argc < 2 )
+ {
+ LogError( "Must specify a command\n" );
+ Usage();
+ exit( 1 );
+ }
+ gCmdStr = argv[ 1 ];
+ for ( cmdIdx = 0; cmdIdx < gNumCmds; cmdIdx++ )
+ {
+ if ( strcasecmp( gCmdStr, gCmdMap[ cmdIdx ].cmdStr ) == 0 )
+ {
+ gCmd = gCmdMap[ cmdIdx ].cmd;
+ break;
+ }
+ }
+ if ( gCmd == CMD_DEFAULT )
+ {
+ LogError( "Unrecognized command '%s'\n", gCmdStr );
+ exit( 1 );
+ }
+
+ // Process command specific arguments
+
+ if (( gCmd == CMD_READ_BYTE_2 )
+ || ( gCmd == CMD_WRITE_BYTE_2 )
+ || ( gCmd == CMD_RECV_BYTE_2 )
+ || ( gCmd == CMD_SEND_BYTE_2 ))
+ {
+ gByteCount = 2;
+ }
+ else
+ if (( gCmd == CMD_READ_BYTE_4 )
+ || ( gCmd == CMD_WRITE_BYTE_4 )
+ || ( gCmd == CMD_RECV_BYTE_4 )
+ || ( gCmd == CMD_SEND_BYTE_4 ))
+ {
+ gByteCount = 4;
+ }
+
+ if (( gCmd == CMD_READ_BYTE )
+ || ( gCmd == CMD_READ_BYTE_2 )
+ || ( gCmd == CMD_READ_BYTE_4 ))
+ {
+ if ( argc < 3 )
+ {
+ LogError( "Expecting address\n" );
+ Usage();
+ exit( 1 );
+ }
+ if ( argc > 3 )
+ {
+ LogError( "Unexpected extra parameters\n" );
+ Usage();
+ exit( 1 );
+ }
+
+ gAddrStr = argv[ 2 ];
+ }
+ else
+ if (( gCmd == CMD_WRITE_BYTE )
+ || ( gCmd == CMD_WRITE_BYTE_2 )
+ || ( gCmd == CMD_WRITE_BYTE_4 ))
+ {
+ if ( argc < 4 )
+ {
+ LogError( "Expecting address and data\n" );
+ Usage();
+ exit( 1 );
+ }
+ if ( argc > 4 )
+ {
+ LogError( "Unexpected extra parameters\n" );
+ Usage();
+ exit( 1 );
+ }
+
+ gAddrStr = argv[ 2 ];
+ gDataStr = argv[ 3 ];
+ }
+ else
+ if (( gCmd == CMD_RECV_BYTE )
+ || ( gCmd == CMD_RECV_BYTE_2 )
+ || ( gCmd == CMD_RECV_BYTE_4 ))
+ {
+ if ( argc > 2 )
+ {
+ LogError( "Unexpected extra parameters\n" );
+ Usage();
+ exit( 1 );
+ }
+ }
+ else
+ if (( gCmd == CMD_SEND_BYTE )
+ || ( gCmd == CMD_SEND_BYTE_2 )
+ || ( gCmd == CMD_SEND_BYTE_4 ))
+ {
+ if ( argc < 3 )
+ {
+ LogError( "Expecting data\n" );
+ Usage();
+ exit( 1 );
+ }
+ if ( argc > 3 )
+ {
+ LogError( "Unexpected extra parameters\n" );
+ Usage();
+ exit( 1 );
+ }
+ gDataStr = argv[ 2 ];
+ }
+
+ if ( gDebug )
+ {
+ Log( "i2cAddr:0x%02x Cmd: %s (%d)", gI2cAddr, gCmdStr, gCmd );
+ if ( gAddrStr != NULL )
+ {
+ Log( " Addr: %s", gAddrStr );
+ }
+ if ( gDataStr != NULL )
+ {
+ Log( " Data: %s", gDataStr );
+ }
+ Log( "\n" );
+ }
+
+ // Try to open the i2c device
+
+ if (( i2cDev = open( i2cDevName, O_RDWR )) < 0 )
+ {
+ LogError( "Error opening '%s': %s\n", i2cDevName, strerror( errno ));
+ exit( 1 );
+ }
+
+ // Indicate which slave we wish to speak to
+
+ I2cSetSlaveAddress( i2cDev, gI2cAddr, I2C_NO_CRC );
+
+ switch ( gCmd )
+ {
+ case CMD_READ_BYTE:
+ case CMD_READ_BYTE_2:
+ case CMD_READ_BYTE_4:
+ {
+ ProcessReadByteCommand( i2cDev, gAddrStr );
+ break;
+ }
+
+ case CMD_WRITE_BYTE:
+ case CMD_WRITE_BYTE_2:
+ case CMD_WRITE_BYTE_4:
+ {
+ ProcessWriteByteCommand( i2cDev, gAddrStr, gDataStr );
+ break;
+ }
+
+ case CMD_RECV_BYTE:
+ case CMD_RECV_BYTE_2:
+ case CMD_RECV_BYTE_4:
+ {
+ ProcessRecvByteCommand( i2cDev );
+ break;
+ }
+
+ case CMD_SEND_BYTE:
+ case CMD_SEND_BYTE_2:
+ case CMD_SEND_BYTE_4:
+ {
+ ProcessSendByteCommand( i2cDev, gDataStr );
+ break;
+ }
+ }
+
+ close( i2cDev );
+
+ return 0;
+
+} // main
+
+//***************************************************************************
+/**
+* Parse a string looking for a single byte.
+*/
+
+int ParseByte( const char *byteStr, uint8_t *byte )
+{
+ char *endPtr;
+
+ *byte = (uint8_t)strtol( byteStr, &endPtr, 0 );
+
+ if ( *endPtr != '\0' )
+ {
+ LogError( "Expecting numeric value, found '%s'\n", byteStr );
+ return FALSE;
+ }
+
+ return TRUE;
+
+} // ParseByte
+
+//***************************************************************************
+/**
+* Parse a string looking for an array of bytes.
+*/
+
+int ParseBytes( const char *byteStr, uint8_t *byte, uint8_t maxBytes, uint8_t *bytesParsed )
+{
+ char *endPtr;
+
+ if (( byteStr[ 0 ] == '0' ) && ( byteStr[ 1 ] == 'x' ))
+ {
+ const char *s = &byteStr[ 2 ];
+ *bytesParsed = 0;
+
+ // Could be a multi-byte hex string
+
+ while ( *s != '\0' )
+ {
+ if ( *bytesParsed >= maxBytes )
+ {
+ LogError( "Too many bytes, max: %d\n", maxBytes );
+ return FALSE;
+ }
+
+ (*bytesParsed)++;
+ *byte = 0;
+
+ if (( *s >= 'A' ) && ( *s <= 'F' ))
+ {
+ *byte = *s - 'A' + 10;
+ }
+ else
+ if (( *s >= 'a' ) && ( *s <= 'f' ))
+ {
+ *byte = *s - 'a' + 10;
+ }
+ else
+ if (( *s >= '0' ) && ( *s <= '9' ))
+ {
+ *byte = *s - '0';
+ }
+ else
+ {
+ LogError( "Expecting hex digit, found '%c'\n", *s );
+ return FALSE;
+ }
+ s++;
+
+ if ( *s == '\0' )
+ {
+ break;
+ }
+
+ *byte <<= 4;
+ if (( *s >= 'A' ) && ( *s <= 'F' ))
+ {
+ *byte |= *s - 'A' + 10;
+ }
+ else
+ if (( *s >= 'a' ) && ( *s <= 'f' ))
+ {
+ *byte |= *s - 'a' + 10;
+ }
+ else
+ if (( *s >= '0' ) && ( *s <= '9' ))
+ {
+ *byte |= *s - '0';
+ }
+ else
+ {
+ LogError( "Expecting hex digit, found '%c'\n", *s );
+ return FALSE;
+ }
+ s++;
+ byte++;
+ }
+ }
+ else
+ {
+ // It's decimal or octal - only a single byte
+
+ *byte = (uint8_t)strtol( byteStr, &endPtr, 0 );
+
+ if ( *endPtr != '\0' )
+ {
+ LogError( "Expecting numeric value, found '%s'\n", byteStr );
+ return FALSE;
+ }
+ *bytesParsed = 1;
+ }
+
+ return TRUE;
+
+} // ParseBytes
+
+//***************************************************************************
+/**
+* Issues a read byte command to read a byte from a particular address.
+*/
+
+void ProcessReadByteCommand( int i2cDev, const char *addrStr )
+{
+ uint8_t addr;
+ uint8_t dataByte[ I2C_MAX_DATA_LEN ];
+ int rc;
+ int i;
+
+ if ( !ParseByte( addrStr, &addr ))
+ {
+ return;
+ }
+
+ if (( rc = I2cReadBytes( i2cDev, addr, dataByte, gByteCount )) != 0 )
+ {
+ LogError( "I2cReadByte failed: %d\n", rc );
+ return;
+ }
+
+ Log( "0x", dataByte[0] );
+
+ for ( i = 0; i < gByteCount; i++ )
+ {
+ Log( "%02x", dataByte[i] );
+ }
+ Log( "\n" );
+
+} // ProcessReadByteCommand
+
+//***************************************************************************
+/**
+* Issues a recv byte command to read bytes with no address.
+*/
+
+void ProcessRecvByteCommand( int i2cDev )
+{
+ uint8_t dataByte[ I2C_MAX_DATA_LEN ];
+ int rc;
+ int i;
+
+ if (( rc = I2cReceiveBytes( i2cDev, dataByte, gByteCount )) != 0 )
+ {
+ LogError( "I2cRecvBytes failed: %d\n", rc );
+ return;
+ }
+
+ Log( "0x", dataByte[0] );
+
+ for ( i = 0; i < gByteCount; i++ )
+ {
+ Log( "%02x", dataByte[i] );
+ }
+ Log( "\n" );
+
+} // ProcessRecvByteCommand
+
+//***************************************************************************
+/**
+* Issues a write byte command to write a byte to a particular address.
+*/
+
+void ProcessWriteByteCommand( int i2cDev, const char *addrStr, const char *dataStr )
+{
+ uint8_t addr;
+ uint8_t dataByte[ I2C_MAX_DATA_LEN ];
+ uint8_t bytesParsed;
+ int rc;
+
+ if ( !ParseByte( addrStr, &addr ))
+ {
+ return;
+ }
+
+ if ( !ParseBytes( dataStr, dataByte, sizeof( dataByte ), &bytesParsed ))
+ {
+ return;
+ }
+
+ if (( rc = I2cWriteBytes( i2cDev, addr, dataByte, bytesParsed )) != 0 )
+ {
+ LogError( "I2cWriteBytes failed: %d\n", rc );
+ return;
+ }
+
+} // ProcessWriteByteCommand
+
+//***************************************************************************
+/**
+* Issues a send byte command to write bytes with no address specified.
+*/
+
+void ProcessSendByteCommand( int i2cDev, const char *dataStr )
+{
+ uint8_t dataByte[ I2C_MAX_DATA_LEN ];
+ uint8_t bytesParsed;
+ int rc;
+
+ if ( !ParseBytes( dataStr, dataByte, sizeof( dataByte ), &bytesParsed ))
+ {
+ return;
+ }
+
+ if (( rc = I2cSendBytes( i2cDev, dataByte, bytesParsed )) != 0 )
+ {
+ LogError( "I2cSendBytes failed: %d\n", rc );
+ return;
+ }
+
+} // ProcessSendByteCommand
+
+//***************************************************************************
+/**
+* Usage
+*/
+
+void Usage( void )
+{
+ fprintf( stderr, "Usage: i2c [options] i2c-addr cmd [cmd-arguments]\n" );
+ fprintf( stderr, "Send I2C commands\n" );
+ fprintf( stderr, "\n" );
+ fprintf( stderr, "The following commands are supported:\n" );
+ fprintf( stderr, "ReadByte addr Retrieves byte(s) starting at the indicated address\n" );
+ fprintf( stderr, "WriteByte addr data Write byte(s) starting at the indicated address\n" );
+ fprintf( stderr, "ReadByte2 addr Retrieves two bytes from the indicated address\n" );
+ fprintf( stderr, "WriteByte2 addr data Writes two bytes into the indicated address\n" );
+ fprintf( stderr, "ReadByte4 addr Retrieves four bytes from the indicated address\n" );
+ fprintf( stderr, "WriteByte4 addr data Writes four bytes into the indicated address\n" );
+ fprintf( stderr, "RecvByte Retrieves byte(s)(no address specified)\n" );
+ fprintf( stderr, "SendByte data Writes byte(s)(no address specified)\n" );
+ fprintf( stderr, "RecvByte2 Retrieves 2 bytes (no address specified)\n" );
+ fprintf( stderr, "SendByte2 data Writes 2 bytes(no address specified)\n" );
+ fprintf( stderr, "RecvByte4 Retrieves 4 bytes (no address specified)\n" );
+ fprintf( stderr, "SendByte4 data Writes 4 bytes(no address specified)\n" );
+ fprintf( stderr, "\n" );
+ fprintf( stderr, "The above commands can be shortened to rb, wb, rb2, wb2, rb4, wb4, vb, sd, vb2 sb2 vb4, and sb4 \n" );
+ fprintf( stderr, "respectively.\n" );
+ fprintf( stderr, "\n" );
+ fprintf( stderr, "The following options may be used:\n" );
+ fprintf( stderr, "--count=n Specifies how many bytes to read for ReadByte or RecvByte\n" );
+ fprintf( stderr, "--version Prints the SVN version of this program\n" );
+ fprintf( stderr, "--verbose Print additional information\n" );
+ fprintf( stderr, "--help Prints this information\n" );
+}
+
--- /dev/null
+/****************************************************************************
+*
+* Copyright (c) 2006 Dave Hylands <dhylands@gmail.com>
+*
+* 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.
+*
+* Alternatively, this software may be distributed under the terms of BSD
+* license.
+*
+* See README and COPYING for more details.
+*
+****************************************************************************/
+/**
+*
+* @file i2c.h
+*
+* @brief Global definitions for interfacing with the AVR TWI (aka I2C)
+* hardware
+*
+****************************************************************************/
+/**
+* @defgroup xxx Readable version of xxx.
+*
+* @brief Brief description of what xxx does.
+*
+* Longer description of what xxx does.
+*
+****************************************************************************/
+
+#if !defined( I2C_H )
+#define I2C_H /**< Include Guard */
+
+/* ---- Include Files ---------------------------------------------------- */
+
+#include <inttypes.h>
+
+#if !defined( CONFIG_H )
+# include "Config.h"
+#endif
+
+
+/**
+ * @addtogroup I2C
+ * @{
+ */
+
+/* ---- Constants and Types ---------------------------------------------- */
+
+/**
+ * Error Codes
+ */
+
+#define I2C_ERROR_NONE 0 // No Error
+#define I2C_ERROR_ADDR_NACK -1 // No response to SLA+R/W
+#define I2C_ERROR_DATA_NACK -2 // NACK during data transmission
+#define I2C_ERROR_ARBITRATION_LOST -3 // Lost arbitration
+#define I2C_ERROR_BAD_LEN -4 // Length is wonky
+#define I2C_ERROR_BAD_CRC -5 // CRC failed
+#define I2C_ERROR_BUS_ERROR -6 // Someting weird on the i2c bus
+
+typedef int8_t I2C_Error_t;
+
+/**
+ * Since we're loosely following the SMBus spec, we restrict the amount
+ * of data in each transaction to 32 bytes.
+ */
+
+#define I2C_MAX_DATA_LEN 32
+
+/**
+ * I2C_Addr_t can contain the address of any device on the bus. This
+ * module only supports 7 bit addressing.
+ */
+
+typedef uint8_t I2C_Addr_t;
+
+/**
+ * The I2C_CRC macro can be used to remove all CRC support at compile time.
+ */
+
+#if CFG_I2C_USE_CRC
+# define I2C_CRC(x) x
+#else
+
+# define I2C_CRC(x)
+#endif
+
+
+/**
+ * I2C_Data_t encapsulates the data being read or written on the i2c bus.
+ * This module follows the SMBus spec, whihch specifies a maximum payload
+ * of 32 bytes.
+ */
+
+typedef struct
+{
+#if CFG_I2C_USE_CRC
+ uint8_t m_crc;
+#endif
+
+
+ // For reads, m_len is the number of bytes actually read (doesn't include
+ // the CRC - if present). If a block transfer was performed which has a
+ // length byte, this length will include the length byte.
+
+ uint8_t m_len;
+
+ // Note: Under SMBus, a block write can consist of a command, a length,
+ // 32 bytes of payload, and a CRC.
+ //
+ // A read response can consist of a length, 32 bytes of data, and a CRC.
+
+ uint8_t m_data[ I2C_MAX_DATA_LEN + 2]; // +1 for the command, +1 for length
+
+} I2C_Data_t;
+
+/* ---- Variable Externs ------------------------------------------------- */
+
+/**
+ * Description of variable.
+ */
+
+/* ---- Function Prototypes ---------------------------------------------- */
+
+/*
+ * Just include prototypes here. Put full descriptions in the .c files.
+ */
+
+/** @} */
+
+#endif /* I2C_H */
+
+
--- /dev/null
+#!/bin/sh
+#
+# Start i2c support
+#
+
+start() {
+ echo "Starting i2c..."
+
+ /sbin/modprobe i2c-pxa
+ /sbin/modprobe i2c-dev
+}
+stop() {
+ echo "Stopping i2c..."
+
+}
+restart() {
+ stop
+ start
+}
+
+case "$1" in
+ start)
+ start
+ ;;
+ stop)
+ stop
+ ;;
+ restart)
+ restart
+ ;;
+ *)
+ echo $"Usage: $0 {start|stop|restart}"
+ exit 1
+esac
+
+exit $?
+
--- /dev/null
+DESCRIPTION = "i2c init file and command line tool"
+SECTION = "base"
+PRIORITY = "required"
+PR = "r2"
+
+SRC_URI = " \
+ file://Config.h \
+ file://Crc8.h \
+ file://Crc8.c \
+ file://DumpMem.h \
+ file://DumpMem.c \
+ file://Log.h \
+ file://Log.c \
+ file://i2c-api.h \
+ file://i2c-api.c \
+ file://i2c-dev.h \
+ file://i2c-io.h \
+ file://i2c-io-api.h \
+ file://i2c.h \
+ file://i2c.c \
+ file://i2c.init \
+ "
+
+S = "${WORKDIR}"
+
+do_compile () {
+ ${CC} -o i2c *.c
+}
+
+do_install () {
+ install -d ${D}${bindir}/
+ install -m 0755 ${WORKDIR}/i2c ${D}${bindir}/
+
+ install -d ${D}${sysconfdir}/init.d/
+ install -m 0755 ${WORKDIR}/i2c.init ${D}${sysconfdir}/init.d/i2c
+}
+
+inherit update-rc.d
+INITSCRIPT_NAME = "i2c"
+INITSCRIPT_PARAMS = "defaults 90"
+
+PACKAGES = "${PN}"
+FILES_${PN} = "${bindir}/*"
+FILES_${PN} += "${sysconfdir}/*"
+
--- /dev/null
+####################################################################
+# Microwindows and Nano-X configuration file
+#
+# This package can be configured to run on Linux (MIPS, ARM, POWERPC or x86)
+# UNIX, ELKS, DJGPP, or RTEMS.
+# On Linux, we've got drivers for Linux 2.x framebuffers, X11, or,
+# svgalib for VGA hardware.
+# In addition, a gpm or direct serial mouse driver can be configured.
+# On ELKS, the bios screen driver and serial mouse driver are always used.
+#
+# Either Microwindows and/or Nano-X can be built.
+# Microwindows and Nano-X have several demos.
+#
+# For MSDOS makes, see mcmwin.mak and mcnanox.mak
+####################################################################
+
+####################################################################
+#
+# build target platform
+#
+# Valid ARCH values are:
+#
+# LINUX-NATIVE
+# LINUX-TCC
+# LINUX-ARM
+# LINUX-MIPS
+# LINUX-POWERPC (BIGENDIAN=Y)
+# LINUX-SPARC (BIGENDIAN=Y)
+# LINUX-SH
+# FREEBSD-X86
+# SOLARIS (BIGENDIAN=Y)
+# TRIMEDIA
+# RTEMS
+# DJGPP
+# ELKS
+#
+# note: ELKS can't build client/server nano-X, nor widget lib
+#
+####################################################################
+ARCH = LINUX-ARM
+BIGENDIAN = N
+NATIVETOOLSPREFIX =
+
+####################################################################
+#
+# Compiling options
+#
+####################################################################
+OPTIMIZE = Y
+DEBUG = N
+VERBOSE = N
+THREADSAFE = Y
+GPROF = N
+
+####################################################################
+#
+# Libraries to build: microwin, nano-X, nanowidget, object frameworks
+#
+####################################################################
+MICROWIN = N
+NANOX = Y
+SHAREDLIBS = Y
+OBJFRAMEWORK = N
+
+
+####################################################################
+#
+# Demos to build
+#
+####################################################################
+MICROWINDEMO = N
+NANOXDEMO = Y
+
+####################################################################
+#
+# Applications to build
+#
+####################################################################
+NANOWM = Y
+
+####################################################################
+#
+# The pixeltype of the native hardware or underlying graphics library.
+# This definition defines the PIXELVAL to be 32, 16 or 8 bits wide.
+# If using Linux framebuffer, set to MWPF_TRUECOLOR0888, and use fbset.
+# It also enables GdArea/GrArea for this particular pixel packing format.
+#
+# define MWPF_PALETTE /* pixel is packed 8 bits 1, 4 or 8 pal index*/
+# define MWPF_TRUECOLOR8888 /* pixel is packed 32 bits 8/8/8/8 truecolor w/alpha*/
+# define MWPF_TRUECOLOR0888 /* pixel is packed 32 bits 8/8/8 truecolor*/
+# define MWPF_TRUECOLOR888 /* pixel is packed 24 bits 8/8/8 truecolor*/
+# define MWPF_TRUECOLOR565 /* pixel is packed 16 bits 5/6/5 truecolor*/
+# define MWPF_TRUECOLOR555 /* pixel is packed 16 bits 5/5/5 truecolor*/
+# define MWPF_TRUECOLOR332 /* pixel is packed 8 bits 3/3/2 truecolor*/
+#
+####################################################################
+SCREEN_PIXTYPE = MWPF_TRUECOLOR565
+
+####################################################################
+#
+# NanoX: Put Y to the following line to link the nano-X application
+# with the server. This is required for ELKS, if no network is present,
+# or for speed or debugging. This affects the nano-X server only.
+#
+####################################################################
+LINK_APP_INTO_SERVER = N
+
+####################################################################
+# Shared memory support for Nano-X client/server protocol speedup
+####################################################################
+HAVE_SHAREDMEM_SUPPORT = N
+
+####################################################################
+#
+# File I/O support
+# Supporting either below drags in libc stdio, which may not be wanted
+#
+####################################################################
+HAVE_FILEIO = Y
+
+####################################################################
+# BMP, GIF reading support
+####################################################################
+HAVE_BMP_SUPPORT = Y
+HAVE_GIF_SUPPORT = Y
+HAVE_PNM_SUPPORT = N
+HAVE_XPM_SUPPORT = N
+
+####################################################################
+# JPEG support through libjpeg, see README.txt in contrib/jpeg
+####################################################################
+HAVE_JPEG_SUPPORT = Y
+INCJPEG =
+LIBJPEG =
+
+####################################################################
+# PNG support via libpng and libz
+####################################################################
+HAVE_PNG_SUPPORT = N
+INCPNG =
+LIBPNG =
+LIBZ =
+
+####################################################################
+# TIFF support through libtiff
+####################################################################
+HAVE_TIFF_SUPPORT = N
+INCTIFF = .
+LIBTIFF = /usr/lib/libtiff.a
+
+####################################################################
+# native .fnt loadable font support
+####################################################################
+HAVE_FNT_SUPPORT = N
+HAVE_FNTGZ_SUPPORT = N
+FNT_FONT_DIR = "fonts/bdf"
+
+####################################################################
+# T1 adobe type1 font support thru t1lib
+####################################################################
+HAVE_T1LIB_SUPPORT = N
+INCT1LIB = .
+LIBT1LIB = /usr/lib/libt1.a
+
+####################################################################
+# TrueType font support thru FreeType 1.x
+####################################################################
+HAVE_FREETYPE_SUPPORT = N
+INCFTLIB = /usr/include/freetype1
+LIBFTLIB = /usr/lib/libttf.so
+FREETYPE_FONT_DIR = "fonts/truetype"
+
+####################################################################
+# Support for many kinds of font thru FreeType 2.x
+# Must also set FREETYPE_FONT_DIR in the Freetype 1.x section
+####################################################################
+HAVE_FREETYPE_2_SUPPORT = N
+INCFT2LIB = .
+LIBFT2LIB = /gumstix/gumstix-buildroot/build_arm_nofpu/staging_dir/usr/lib/libfreetype.a
+
+####################################################################
+# PCF font support
+# Selecting HAVE_PCFGZ_SUPPORT will allow you to directly read
+# .pcf.gz files, but it will add libz to the size of the server
+####################################################################
+HAVE_PCF_SUPPORT = N
+HAVE_PCFGZ_SUPPORT = N
+PCF_FONT_DIR = "fonts/pcf"
+
+####################################################################
+# Chinese Han Zi Ku loadable font support
+####################################################################
+HAVE_HZK_SUPPORT = N
+HZK_FONT_DIR = "fonts/chinese"
+
+####################################################################
+# Chinese BIG5 compiled in font support (big5font.c)
+####################################################################
+HAVE_BIG5_SUPPORT = N
+
+####################################################################
+# Chinese GB2312 compiled in font support (gb2312font.c)
+####################################################################
+HAVE_GB2312_SUPPORT = N
+
+####################################################################
+# Japanese JISX0213 compiled in font support (jisx0213-12x12.c)
+####################################################################
+HAVE_JISX0213_SUPPORT = N
+
+####################################################################
+# Korean HANGUL font support (jo16x16.c)
+####################################################################
+HAVE_KSC5601_SUPPORT = N
+
+####################################################################
+# Japanese EUC-JP support using loadable MGL font
+####################################################################
+HAVE_EUCJP_SUPPORT = N
+EUCJP_FONT_DIR = "fonts/japanese"
+
+####################################################################
+# Generate screen driver interface only with no fonts or clipping
+####################################################################
+NOFONTSORCLIPPING = N
+
+####################################################################
+#
+# Window move algorithms for Microwindows
+# Change for tradeoff between cpu speed and looks
+# ERASEMOVE repaints only backgrounds while window dragging, quicker.
+# Otherwise an XOR redraw is used for window moves only after button up,
+# quickest (should set for ELKS)
+# UPDATEREGIONS paints in update clipping region only for better look and feel
+#
+####################################################################
+ERASEMOVE = Y
+UPDATEREGIONS = Y
+
+####################################################################
+#
+# Link with Gray Palette (valid only for 4bpp modes)
+#
+####################################################################
+GRAYPALETTE = N
+
+####################################################################
+#
+# If the platform is running UNIX, Linux or RTEMS...
+#
+####################################################################
+ifneq ($(ARCH), ELKS)
+
+# X Window screen, mouse and kbd drivers
+X11 = N
+
+ifeq ($(X11), Y)
+# startup screen width, height, (depth for palette mode only)
+SCREEN_WIDTH = 480
+SCREEN_HEIGHT = 640
+SCREEN_DEPTH = 16
+
+# You may want to turn this on for XFree86 4.x or if your backing store
+# isn't functioning properly
+USE_EXPOSURE = Y
+
+else
+
+# framebuffer screen driver (linear and/or vga 4 planes)
+# set VTSWITCH to include virtual terminal switch code
+# set FBREVERSE to reverse bit orders in 1,2,4 bpp
+# set FBVGA=N for all systems without VGA hardware (for MIPS must=N)
+FRAMEBUFFER = Y
+FBVGA = N
+VTSWITCH = N
+FBREVERSE = N
+
+# set HAVETEXTMODE=Y for systems that can switch between text & graphics.
+# On a graphics-only embedded system, such as Osprey and Embedded
+# Planet boards, set HAVETEXTMODE=N
+HAVETEXTMODE = N
+
+# svgalib screen driver
+VGALIB = N
+
+# direct VGA hardware access screen driver
+HWVGA = N
+
+####################################################################
+# Mouse drivers
+# GPMMOUSE gpm mouse
+# SERMOUSE serial Microsoft, PC, Logitech, PS/2 mice (/dev/psaux)
+# SUNMOUSE Sun Workstation mouse (/dev/sunmouse)
+# NOMOUSE no mouse driver
+#
+# Touchscreen drivers
+# IPAQMOUSE Compaq iPAQ, Intel Assabet (/dev/h3600_tsraw)
+# ZAURUSMOUSE Sharp Zaurus (/dev/sharp_ts)
+# TUXMOUSE TuxScreen (/dev/ucb1x00-ts)
+# ADSMOUSE Applied Data Systems GC+ (/dev/ts)
+# ADS7846MOUSE ADS7846 chip, PSI OMAP Innovator (/dev/innnovator_ts)
+# EPMOUSE Embedded Planet (/dev/tpanel)
+# VHMOUSE Vtech Helio (/dev/tpanel)
+# MTMOUSE MicroTouch serial (/dev/ttyS1)
+# PSIONMOUSE Psion 5 (/dev/touch_psion)
+# YOPYMOUSE Yopy (/dev/yopy-ts)
+# HARRIERMOUSE NEC Harrier (/dev/tpanel)
+####################################################################
+GPMMOUSE = N
+SERMOUSE = Y
+SUNMOUSE = N
+NOMOUSE = N
+IPAQMOUSE = N
+ZAURUSMOUSE = N
+TUXMOUSE = N
+ADSMOUSE = N
+ADS7846MOUSE = N
+EPMOUSE = N
+VHMOUSE = N
+MTMOUSE = N
+PSIONMOUSE = N
+YOPYMOUSE = N
+HARRIERMOUSE = N
+LIRCMOUSE = N
+
+# keyboard or null kbd driver
+TTYKBD = N
+SCANKBD = N
+PIPEKBD = N
+IPAQKBD = N
+LIRCKBD = N
+NOKBD = Y
+
+endif
+
+# Secondary keyboard drivers.
+# You may have a normal keyboard driver in addition to these
+# drivers, e.g. for both normal keyboard and IR input.
+LIRCKBD2 = N
+
+####################################################################
+# Screen driver specific configuration
+# SA1100_LCD_LTLEND 4bpp driver with arm SA1100 LCD controller
+# INVERT4BPP 4bpp inverted pixel driver for VTech Helio
+####################################################################
+SA1100_LCD_LTLEND = N
+INVERT4BPP = N
+
+####################################################################
+#
+# If the platform is a RTEMS box ....
+#
+####################################################################
+ifeq ($(ARCH), RTEMS)
+
+# Location & BSP information of the RTEMS build
+RTEMS_BUILD = /tools/build-i386-elf-rtems
+RTEMS_BSP = pc386
+LINK_APP_INTO_SERVER = Y
+
+endif
+
+endif
+
+####################################################################
+#
+# If the platform is an ELKS box ...
+#
+####################################################################
+ifeq ($(ARCH), ELKS)
+
+# Higher speed asm driver, c driver of hercules screen driver
+ASMVGADRIVER = Y
+CVGADRIVER = N
+HERCDRIVER = N
+DBGDRIVER = N
+
+# Mouse support
+SERMOUSE = Y
+
+endif
--- /dev/null
+--- microwindows-0.92/src/Makefile.rules-orig 2008-02-13 21:21:18.000000000 -0800
++++ microwindows-0.92/src/Makefile.rules 2008-02-13 21:20:55.000000000 -0800
+@@ -569,9 +569,11 @@
+ # If a shared object library name is specified, link this object
+ #
+ ifeq ($(SHAREDLIBS), Y)
++ifneq ($(LIBNAMESO),)
+ $(MW_DIR_LIB)/$(LIBNAMESO): $(MW_DIR_LIB)/$(LIBNAME)
+ @echo "Creating shared library $(patsubst $(MW_DIR_LIB)/%,%,$@) ..."
+ $(CC) -shared -o $@ -Wl,--whole-archive $^ -Wl,--no-whole-archive
++endif
+ endif
+
+ #
--- /dev/null
+--- microwindows-0.90/src/Makefile-orig.rules 2008-02-08 23:08:38.000000000 -0800
++++ microwindows-0.90/src/Makefile.rules 2008-02-08 23:09:15.000000000 -0800
+@@ -23,10 +23,10 @@
+ LIBINSTALLDIR = $(INSTALL_PREFIX)/lib
+ BININSTALLDIR = $(INSTALL_PREFIX)/bin
+
+-INSTALL_DIR = install -c -m 755 -o $(INSTALL_USER) -g $(INSTALL_GROUP) -d
+-INSTALL_HDR = install -c -m 644 -o $(INSTALL_USER) -g $(INSTALL_GROUP_2)
+-INSTALL_LIB = install -c -m 644 -o $(INSTALL_USER) -g $(INSTALL_GROUP_2)
+-INSTALL_BIN = install -c -m 755 -o $(INSTALL_USER) -g $(INSTALL_GROUP_2)
++INSTALL_DIR = install -c -m 755 -d
++INSTALL_HDR = install -c -m 644
++INSTALL_LIB = install -c -m 644
++INSTALL_BIN = install -c -m 755
+
+ ##############################################################################
+ # Defines, includes, and core libraries. Controlled by the config file.
--- /dev/null
+--- microwindows-0.90/src/nanox/clientfb-orig.c 2008-02-08 20:27:09.000000000 -0800
++++ microwindows-0.90/src/nanox/clientfb.c 2008-02-08 20:24:49.000000000 -0800
+@@ -16,6 +16,7 @@
+ #include "nano-X.h"
+ #include "lock.h"
+
++#define PAGE_SIZE (1UL << 12)
+ #define CG6_RAM 0x70016000 /* for Sun systems*/
+
+ LOCK_EXTERN(nxGlobalLock); /* global lock for threads safety*/
--- /dev/null
+--- microwindows-0.91/src/demos/nanowm/wlist-orig.c 2001-11-15 14:49:18.000000000 -0800
++++ microwindows-0.91/src/demos/nanowm/wlist.c 2008-02-12 09:56:59.000000000 -0800
+@@ -13,7 +13,7 @@
+
+ #include "nanowm.h"
+
+-static win *windows = NULL;
++win *windows = NULL;
+
+ /*
+ * Find the windowlist entry for the specified window ID and return a pointer
--- /dev/null
+--- nxlib-0.45/Xlcint.h-orig 2008-02-13 20:46:56.000000000 -0800
++++ nxlib-0.45/Xlcint.h 2008-02-13 20:47:16.000000000 -0800
+@@ -71,7 +71,7 @@
+ #include "Xresource.h"
+ #include "Xutil.h"
+ /*#include "Xvarargs.h"*/
+-#include "varargs.h"
++#include "stdarg.h"
+
+ typedef Bool (*XFilterEventProc)(
+ #if NeedFunctionPrototypes
--- /dev/null
+require microwindows.inc
+
+SRC_URI = " \
+ ftp://ftp.microwindows.org/pub/microwindows/microwindows-src-snapshot.tar.gz \
+ file://defconfig \
+ file://pagesize.patch;patch=1 \
+ file://makefilerules.patch;patch=1 \
+ "
+
+S=${WORKDIR}/microwin
--- /dev/null
+DESCRIPTION = "Microwindows Graphical Engine"
+SECTION = "x11/wm"
+PRIORITY = "optional"
+DEPENDS = "libpng jpeg zlib"
+LICENSE = "GPL"
+
+PR="r2"
+
+PARALLEL_MAKE = ""
+
+EXTRA_OEMAKE = " \
+ -C ${S}/src \
+ ARMTOOLSPREFIX=${TARGET_PREFIX} \
+ INCJPEG=${STAGING_INCDIR} \
+ LIBJPEG=${STAGING_LIBDIR}/libjpeg.so \
+ INCPNG=${STAGING_INCDIR} \
+ LIBPNG=${STAGING_LIBDIR}/libpng.so \
+ LIBZ=${STAGING_LIBDIR}/libz.so \
+ INSTALL_PREFIX=${D}${prefix} \
+ INSTALL_OWNER1= \
+ INSTALL_OWNER2= \
+ "
+
+do_compile() {
+ cp ${WORKDIR}/defconfig ${S}/src/config
+ oe_runmake
+}
+
+do_stage() {
+ install -m 0644 ${S}/src/include/nano-X.h ${STAGING_INCDIR}/
+ install -m 0644 ${S}/src/include/mwtypes.h ${STAGING_INCDIR}/
+ install -m 0644 ${S}/src/include/nxcolors.h ${STAGING_INCDIR}/
+ install -m 0644 ${S}/src/include/nxdraw.h ${STAGING_INCDIR}/
+ install -m 0755 ${S}/src/lib/*.so ${STAGING_LIBDIR}/
+ install -m 0644 ${S}/src/lib/*.a ${STAGING_LIBDIR}/
+}
+
+do_install() {
+ oe_runmake install all
+
+# the next 3 lines are necessary for snapshot build since it has CVS cruft in the tarball
+ rm -rf ${S}/src/lib/CVS
+ rm -rf ${S}/src/bin/CVS
+ rm -f ${S}/src/bin/fonts
+
+# convbdf is a host tool - don't install it
+ mkdir ${S}/src/hostbin
+ mv ${S}/src/bin/convbdf ${S}/src/hostbin
+
+ install -d ${D}${bindir} ${D}$bindir}/fonts ${D}${libdir}
+ install -m 0755 ${S}/src/lib/* ${D}${libdir}/
+ install -m 0755 ${S}/src/bin/* ${D}${bindir}/
+}
+
+FILES_${PN}="${bindir}/* ${libdir}/*"
-DESCRIPTION = "Microwindows Graphical Engine"
-SECTION = "x11/wm"
-PRIORITY = "optional"
-DEPENDS = "libpng jpeg"
-LICENSE = "GPL"
-SRC_URI = "ftp://ftp.microwindows.org/pub/microwindows/microwindows-${PV}.tar.gz"
+require microwindows.inc
-export EXTRA_OEMAKE = ""
+SRC_URI = " \
+ ftp://ftp.microwindows.org/pub/microwindows/microwindows-${PV}.tar.gz \
+ file://defconfig \
+ file://pagesize.patch;patch=1 \
+ file://nochown.patch;patch=1 \
+ "
-do_compile() {
- if [ "${MACHINE}" = "ipaq" ]; then CONFIG=config.ipaq; fi
- if [ "${MACHINE}" = "ads" ]; then CONFIG=config.ipaq; fi
- if [ "${MACHINE}" = "tuxscreen" ]; then CONFIG=config.ipaq; fi
- if [ "${MACHINE}" = "collie" ]; then CONFIG=config.zaurus; fi
- if [ "${MACHINE}" = "collie" ]; then CONFIG=config.zaurus; fi
- if [ -z "$CONFIG" ]; then CONFIG=config.fb; fi
- cp src/Configs/$CONFIG src/config
-
- ARCH=`echo ${TARGET_OS}-${TARGET_ARCH} | tr [a-z] [A-Z]`
- cd src
- oe_runmake "ARCH=$ARCH" "TOOLSPREFIX=${TARGET_PREFIX}" "MICROWIN=N" \
- "MICROWINDEMO=N" "NANOWM=N" "SHAREDLIBS=Y" "DEBUG=N" \
- "INCJPEG=${STAGING_INCDIR}" "LIBJPEG=${STAGING_LIBDIR}/libjpeg.so"
-}
-
-do_stage() {
- install -m 0644 src/include/nano-X.h ${STAGING_INCDIR}/
- install -m 0644 src/include/mwtypes.h ${STAGING_INCDIR}/
- install -m 0644 src/include/nxcolors.h ${STAGING_INCDIR}/
- install -m 0644 src/include/nxdraw.h ${STAGING_INCDIR}/
- install -m 0755 src/lib/*.so ${STAGING_LIBDIR}/
- install -m 0644 src/lib/*.a ${STAGING_LIBDIR}/
-}
-
-do_install() {
- install -d ${D}${bindir} ${D}${libdir}
- install -m 0755 src/lib/*.so ${D}${libdir}
- install -m 0755 src/bin/nano-X ${D}${bindir}/nano-X
- #install -m 0755 src/bin/nxcal ${D}${bindir}/nxcal
-}
--- /dev/null
+require microwindows.inc
+
+SRC_URI = " \
+ ftp://ftp.microwindows.org/pub/microwindows/microwindows-src-${PV}.tar.gz \
+ file://defconfig \
+ file://pagesize.patch;patch=1 \
+ file://staticwin.patch;patch=1 \
+ "
+
+
--- /dev/null
+DESCRIPTION = "NXLIB X11 Emulation Library for Nano-X"
+PRIORITY = "optional"
+LICENSE = "GPL"
+PROVIDES = "virtual/libx11"
+DEPENDS = "microwindows-snapshot"
+
+PR="r0"
+
+SRC_URI = " \
+ ftp://ftp.microwindows.org/pub/microwindows/nxlib-${PV}.tar.gz \
+ file://varargs.patch;patch=1 \
+ "
+
+EXTRA_OEMAKE = ' \
+ CC="${CC}" \
+ MWIN=${STAGING_DIR}/${HOST_SYS} \
+ X11=${STAGING_DIR}/${HOST_SYS} \
+ '
+
+# not sure yet about installation -- uncommenting below over-writes libX11 in staging
+#do_install() {
+# oe_runmake install
+#}
+
--- /dev/null
+#############################################################################
+#
+# Makefile for building the robostix module
+#
+#############################################################################
+
+obj-m = robostix.o
+
+PWD = $(shell pwd)
+KBUILD_FLAGS = -C $(KERNEL_PATH) M=$(PWD) KERNELRELEASE=$(KERNELRELEASE)
+
+default: modules
+
+modules:
+ $(MAKE) $(KBUILD_FLAGS) modules
+
+clean:
+ rm -rf *.o *~ *.ko *.mod.c
+
--- /dev/null
+/****************************************************************************
+*
+* Copyright (c) 2006 Dave Hylands <dhylands@gmail.com>
+*
+* 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.
+*
+* Alternatively, this software may be distributed under the terms of BSD
+* license.
+*
+* See README and COPYING for more details.
+*
+****************************************************************************/
+/**
+*
+* robostix.c
+*
+* PURPOSE:
+*
+* This implements a driver for using the robostix from the gumstix
+*
+* Initially, this contains the required support to emulate enough of the
+* parallel port interface to allow avrdude to program the ATMega128.
+*
+*****************************************************************************/
+
+/* ---- Include Files ---------------------------------------------------- */
+
+#include <linux/module.h>
+#include <linux/init.h>
+#include <linux/fs.h>
+
+#include <linux/parport.h>
+#include <linux/ppdev.h>
+#include <linux/sysctl.h>
+#include <linux/cdev.h>
+#include <linux/device.h>
+#include <linux/version.h>
+
+#include <asm/delay.h>
+#include <asm/uaccess.h>
+
+#include <asm/arch/hardware.h>
+#include <asm/arch/pxa-regs.h>
+
+#include "robostix.h"
+
+/****************************************************************************
+*
+* This driver assumes that the robostix uses the following GPIO pins:
+*
+* Robostix gumstix ATmega
+* Symbol GPIO Dir Symbol Description
+* ---------- ---- --- -------------- -------------------------------------
+* IR_RXD 46 in ATM_TX0 PE1 Acts as PDO or MISO for programming
+* IR_TXD 47 out ATM_RX0 PE0 Acts as PDI or MOSI for programming
+*
+* L_DD11 69 in ATM_IRQ PE2 IRQ from ATmega128 to gumstix
+* L_DD12 70 out Enable for Vcc5 and AVCC for the ATMega
+* L_DD14 72 out Active low enable for the 245's
+* L_DD15 73 out ATM_RESET Resets the processor
+*
+* The following shows the mapping of the SPI port for the gumstix:
+*
+* NSSPCLK 81 out ATM_SCK Acts as SCK for SPI use
+* NSSPFRAME 82 out ATM_SS Acts as SS for SPI use
+* X_MOSI 83 out ATM_MOSI Acts as MOSI for SPI use
+* X_MISO 84 in ATM_MISO Acts as MISO for SPI use
+*
+* On the verdex, the mapping for the SPI port is slightly different:
+*
+* SSPCLK2 19 out ATM_SCK Acts as SCK for SPI use
+* SSPSFRM2 14 out ATM_SS Acts as SS for SPI use
+* SSPTXD2 13 out ATM_MOSI Acts as MOSI for SPI use
+* SSPRXD2 11 in ATM_MISO Acts as MISO for SPI use
+*
+* X_SCL - i/o ATM_SCL i2c clock
+* X_SDA - i/o ATM_SDA i2c data
+*
+*****************************************************************************/
+
+//---------------------------------------------------------------------------
+//
+// This was extracted from avrdude, and it gives the pin configuration for
+// AVR Dude's default programmer. UISP calls it "BSD"
+// This is what I've chosen for this driver to implement.
+
+#if 0
+programmer
+ id = "bsd";
+ desc = "Brian Dean's Programmer, http://www.bsdhome.com/avrdude/";
+ type = par;
+ vcc = 2, 3, 4, 5;
+ reset = 7;
+ sck = 8;
+ mosi = 9;
+ miso = 10;
+;
+#endif
+//---------------------------------------------------------------------------
+//
+// The following was extracted from avrdude. It basically gives the pin
+// number to register mapping that is in effect for the parallel port.
+//
+// I added the comments on the right which shows pin usage for the default
+// programmer.
+//
+// From this, we can glean that the Control register is never used, and none
+// of the signals which are used are inverted.
+//
+// Furthermore, all of the Data accesses are writes and all of the Status
+// accesses are reads.
+
+#if 0
+struct ppipins_t {
+ int pin;
+ int reg;
+ int bit;
+ int inverted;
+};
+
+static struct ppipins_t pins[] = {
+ { 1, PPICTRL, 0x01, 1 },
+ { 2, PPIDATA, 0x01, 0 }, // Vcc
+ { 3, PPIDATA, 0x02, 0 }, // Vcc
+ { 4, PPIDATA, 0x04, 0 }, // Vcc
+ { 5, PPIDATA, 0x08, 0 }, // Vcc
+ { 6, PPIDATA, 0x10, 0 },
+ { 7, PPIDATA, 0x20, 0 }, // Reset
+ { 8, PPIDATA, 0x40, 0 }, // SCK
+ { 9, PPIDATA, 0x80, 0 }, // MOSI
+ { 10, PPISTATUS, 0x40, 0 }, // MISO
+ { 11, PPISTATUS, 0x80, 1 },
+ { 12, PPISTATUS, 0x20, 0 },
+ { 13, PPISTATUS, 0x10, 0 },
+ { 14, PPICTRL, 0x02, 1 },
+ { 15, PPISTATUS, 0x08, 0 },
+ { 16, PPICTRL, 0x04, 0 },
+ { 17, PPICTRL, 0x08, 1 }
+};
+
+#endif
+
+#define PPI_DATA_VCC_MASK ( 0x01 | 0x02 | 0x04 | 0x08 )
+#define PPI_DATA_RESET_MASK ( 0x20 )
+#define PPI_DATA_SCK_MASK ( 0x40 )
+#define PPI_DATA_MOSI_MASK ( 0x80 )
+
+#define PPI_STATUS_MISO_MASK ( 0x40 )
+
+/* ---- Public Variables ------------------------------------------------- */
+/* ---- Private Constants and Types -------------------------------------- */
+
+#define USE_SYSCTL 1
+
+#if 1
+# if USE_SYSCTL
+# define ROBO_DEBUG( flag, fmt, args... ) do { if ( gDebug ## flag ) printk( "%s: " fmt, __FUNCTION__ , ## args ); } while (0)
+# else
+# define ROBO_DEBUG( flag, fmt, args... ) printk( "%s: " fmt, __FUNCTION__ , ## args )
+# endif
+#else
+# define ROBO_DEBUG( flag, fmt, args... )
+#endif
+
+#define SET_GPIO( pin, val ) do { if ( val ) { GPSR( pin ) = GPIO_bit( pin ); } else { GPCR( pin ) = GPIO_bit( pin ); }} while(0)
+#define GET_GPIO( pin ) (( GPLR( pin ) & GPIO_bit( pin )) != 0 )
+
+// The Alternate function register is 2 bits per pin, so we can't use the
+// GPIO_bit macro.
+
+#define GPIO_AF_shift(x) (((x) & 0x0F ) << 1 )
+#define GPIO_AF_mask(x) ( 3 << GPIO_AF_shift( x ))
+
+/*
+ * Define the mappings between various GPIO pins and functions on the robostix
+ * board.
+ */
+
+#define ROBOSTIX_GPIO_ATM_IRQ GPIO69_LDD_11
+#define ROBOSTIX_GPIO_VCC5_ENABLE GPIO70_LDD_12
+#define ROBOSTIX_GPIO_245_ENABLE GPIO72_LDD_14
+#define ROBOSTIX_GPIO_ATM_RESET GPIO73_LDD_15
+
+#ifdef CONFIG_PXA27x
+# define ROBOSTIX_GPIO_ATM_SCK ( 19 | GPIO_ALT_FN_1_OUT )
+# define ROBOSTIX_GPIO_ATM_SS ( 14 | GPIO_ALT_FN_2_OUT )
+# define ROBOSTIX_GPIO_ATM_MOSI ( 13 | GPIO_ALT_FN_1_OUT )
+# define ROBOSTIX_GPIO_ATM_MISO ( 11 | GPIO_ALT_FN_2_IN )
+#else
+# define ROBOSTIX_GPIO_ATM_SCK GPIO81_NSCLK
+# define ROBOSTIX_GPIO_ATM_SS GPIO82_NSFRM
+# define ROBOSTIX_GPIO_ATM_MOSI GPIO83_NSTXD
+# define ROBOSTIX_GPIO_ATM_MISO GPIO84_NSRXD
+#endif
+
+#define ROBOSTIX_GPIO_IR_RXD_5V GPIO46_STRXD
+#define ROBOSTIX_GPIO_IR_TXD_5V GPIO47_STTXD
+
+// Since IR TxD/RxD behave like MOSI/MISO during programming, we define a
+// couple of aliases
+
+#define ROBOSTIX_GPIO_ATM_PGM_MOSI ROBOSTIX_GPIO_IR_TXD_5V
+#define ROBOSTIX_GPIO_ATM_PGM_MISO ROBOSTIX_GPIO_IR_RXD_5V
+
+
+typedef enum
+{
+ RoboStixGpioIn,
+ RoboStixGpioOut,
+} PinMode_e;
+
+typedef struct
+{
+ unsigned grer;
+ unsigned gfer;
+ unsigned gafr;
+ unsigned gpdr;
+ unsigned gplr;
+
+} PinConfig_t;
+
+/* ---- Private Variables ------------------------------------------------ */
+
+#define ROBOSTIX_DEV_NAME "robostix"
+
+static char gBanner[] __initdata = KERN_INFO "Robostix Driver Compiled: " __DATE__ " at " __TIME__ "\n";
+
+static PinConfig_t gIrTxdConfig;
+static PinConfig_t gIrRxdConfig;
+
+dev_t gRobostixDevNum;
+struct cdev gRobostixCDev;
+struct class *gRobostixClass;
+
+#if USE_SYSCTL
+
+static int gDebugTrace = 0;
+static int gDebugIoctl = 0;
+static int gDebugError = 1;
+
+static struct ctl_table_header *gSysCtlHeader;
+
+static struct ctl_table gSysCtlRobostix[] =
+{
+ {
+ .ctl_name = CTL_ROBOSTIX_DEBUG_TRACE,
+ .procname = "debug-trace",
+ .data = &gDebugTrace,
+ .maxlen = sizeof( int ),
+ .mode = 0644,
+ .proc_handler = &proc_dointvec
+ },
+ {
+ .ctl_name = CTL_ROBOSTIX_DEBUG_IOCTL,
+ .procname = "debug-ioctl",
+ .data = &gDebugIoctl,
+ .maxlen = sizeof( int ),
+ .mode = 0644,
+ .proc_handler = &proc_dointvec
+ },
+ {
+ .ctl_name = CTL_ROBOSTIX_DEBUG_ERROR,
+ .procname = "debug-error",
+ .data = &gDebugError,
+ .maxlen = sizeof( int ),
+ .mode = 0644,
+ .proc_handler = &proc_dointvec
+ },
+ { 0 }
+};
+
+static struct ctl_table gSysCtl[] =
+{
+ {
+ .ctl_name = CTL_ROBOSTIX,
+ .procname = "robostix",
+ .mode = 0555,
+ .child = gSysCtlRobostix
+ },
+ { 0 }
+};
+
+#endif // USE_SYSCTL
+
+/* ---- Private Function Prototypes -------------------------------------- */
+
+static void robostix_configure_pin( int pin, PinMode_e pinMode );
+static void robostix_get_pin_config( int pin, PinConfig_t *pinConfig );
+static void robostix_set_pin_config( int pin, const PinConfig_t *pinConfig );
+
+static void robostix_exit( void );
+static int robostix_init( void );
+static int robostix_ioctl( struct inode *inode, struct file *file, unsigned int cmd, unsigned long arg );
+static int robostix_open( struct inode *inode, struct file *file );
+static int robostix_release( struct inode *inode, struct file *file );
+
+/****************************************************************************
+*
+* File Operations (these are the device driver entry points)
+*
+*****************************************************************************/
+
+static struct file_operations robostix_fops =
+{
+ owner: THIS_MODULE,
+ ioctl: robostix_ioctl,
+ open: robostix_open,
+ release: robostix_release,
+};
+
+/* ---- Functions -------------------------------------------------------- */
+
+/****************************************************************************
+*
+* robostix_configure_pin
+*
+* Configures a GPIO pin for use with the RoboStix.
+*
+*****************************************************************************/
+
+void robostix_configure_pin( int pin, PinMode_e pinMode )
+{
+ // Make sure that interrupts on rising/falling edges are turned off. This
+ // is a bit paranoid, but might as well be sure.
+
+ GRER( pin ) &= ~GPIO_bit( pin );
+ GFER( pin ) &= ~GPIO_bit( pin );
+
+ // Set the pin to be a GPIO pin
+
+ GAFR( pin ) &= ~GPIO_AF_mask( pin ); // AF = 0 is GPIO
+
+ // Reprogram the direction of the pin.
+
+ if ( pinMode == RoboStixGpioIn )
+ {
+ GPDR( pin ) &= ~GPIO_bit( pin ); // in
+ }
+ else
+ {
+ GPDR( pin ) |= GPIO_bit( pin ); // out
+ }
+
+} // robostix_configure_pin
+
+/****************************************************************************
+*
+* robostix_get_pin_config
+*
+* Retrieves the current pin configuration and stores it in @a pinConfig.
+*
+*****************************************************************************/
+
+void robostix_get_pin_config( int pin, PinConfig_t *pinConfig )
+{
+ pinConfig->grer = GRER( pin ) & GPIO_bit( pin );
+ pinConfig->gfer = GFER( pin ) & GPIO_bit( pin );
+ pinConfig->gafr = GAFR( pin ) & GPIO_AF_mask( pin );
+ pinConfig->gpdr = GPDR( pin ) & GPIO_bit( pin );
+ pinConfig->gplr = GPLR( pin ) & GPIO_bit( pin );
+
+} // robostix_get_pin_config
+
+/****************************************************************************
+*
+* robostix_set_pin_config
+*
+* Restores the pin configuration to a previously saved comfiguration.
+*
+*****************************************************************************/
+
+void robostix_set_pin_config( int pin, const PinConfig_t *pinConfig )
+{
+ GRER( pin ) = ( GRER( pin ) & ~GPIO_bit( pin )) | ( pinConfig->grer & GPIO_bit( pin ));
+ GFER( pin ) = ( GFER( pin ) & ~GPIO_bit( pin )) | ( pinConfig->gfer & GPIO_bit( pin ));
+ GPDR( pin ) = ( GPDR( pin ) & ~GPIO_bit( pin )) | ( pinConfig->gpdr & GPIO_bit( pin ));
+ GAFR( pin ) = ( GAFR( pin ) & ~GPIO_AF_mask( pin )) | ( pinConfig->gafr & GPIO_AF_mask( pin ));
+
+ if (( pinConfig->gplr & GPIO_bit( pin )) == 0 )
+ {
+ GPSR( pin ) |= GPIO_bit( pin );
+ }
+ else
+ {
+ GPCR( pin ) |= GPIO_bit( pin );
+ }
+
+} // robostix_set_pin_config
+
+/****************************************************************************
+*
+* robostix_exit
+*
+* Called to perform module cleanup when the module is unloaded.
+*
+*****************************************************************************/
+
+void robostix_exit( void )
+{
+ ROBO_DEBUG( Trace, "called\n" );
+
+ class_device_destroy( gRobostixClass, gRobostixDevNum );
+ class_destroy( gRobostixClass );
+
+ cdev_del( &gRobostixCDev );
+
+#if USE_SYSCTL
+ if ( gSysCtlHeader != NULL )
+ {
+ unregister_sysctl_table( gSysCtlHeader );
+ }
+#endif
+
+ unregister_chrdev_region( gRobostixDevNum, 1 );
+
+#if 0
+ unregister_chrdev( ROBOSTIX_MAJOR, ROBOSTIX_DEV_NAME );
+#endif
+
+} // robostix_exit
+
+/****************************************************************************
+*
+* robostix_init
+*
+* Called to perform module initialization when the module is loaded.
+*
+*****************************************************************************/
+
+int __init robostix_init( void )
+{
+ int rc;
+
+ ROBO_DEBUG( Trace, "called\n" );
+
+ printk( gBanner);
+
+#if 0
+ // Register our device with Linux
+
+ if (( rc = register_chrdev( ROBOSTIX_MAJOR, ROBOSTIX_DEV_NAME, &robostix_fops )) < 0 )
+ {
+ printk( KERN_WARNING "robostix: register_chrdev failed for major %d\n", ROBOSTIX_MAJOR );
+ return rc;
+ }
+#endif
+
+ if (( rc = alloc_chrdev_region( &gRobostixDevNum, 0, 1, ROBOSTIX_DEV_NAME )) < 0 )
+ {
+ printk( KERN_WARNING "robostix: Unable to allocate major, err: %d\n", rc );
+ return rc;
+ }
+
+#if USE_SYSCTL
+ #if ( LINUX_VERSION_CODE <= KERNEL_VERSION( 2, 6, 20 ))
+ gSysCtlHeader = register_sysctl_table( gSysCtl, 0 );
+ if ( gSysCtlHeader != NULL )
+ {
+ gSysCtlHeader->ctl_table->child->de->owner = THIS_MODULE;
+ }
+ #else
+ gSysCtlHeader = register_sysctl_table( gSysCtl );
+ #endif
+#endif
+
+ // Initialize the various GPIO pins that control the Robostix.
+ //
+ // IR_RXD 46 in ATM_TX0 PE1 Acts as PDO or MISO for programming
+ // IR_TXD 47 out ATM_RX0 PE0 Acts as PDI or MOSI for programming
+ //
+ // L_DD11 69 in ATM_IRQ PE2 IRQ from ATmega128 to gumstix
+ // L_DD12 70 out Enable for Vcc5 and AVCC for the ATMega
+ // L_DD14 72 out Active low enable for the 245's
+ // L_DD15 73 out ATM_RESET Resets the processor
+ //
+ // NSSPCLK 81 out ATM_SCK Acts as SCK for SPI use
+ // NSSPFRAME 82 out ATM_SS Acts as SS for SPI use
+ // X_MOSI 83 out ATM_MOSI Acts as MOSI for SPI use
+ // X_MISO 84 in ATM_MISO Acts as MISO for SPI use
+ //
+ // For now, we initialize things so that they continue on the way that
+ // they were when the gumstix boots:
+ //
+ // 245 is enabled
+ // voltage regulators are enabled
+ // Robostix is held in Reset
+ //
+ // I'd like to either see the voltage regulators in a disabled state
+ // or see the robostix not be held in reset so that we don't have sensors
+ // and motors and stuff going wild while the gumstix boots.
+ //
+ // The gumstix console runs through the '245 so we make sure to leave
+ // it enabled.
+
+ // The first thing to do is configure the input pins.
+
+ robostix_configure_pin( ROBOSTIX_GPIO_ATM_MISO, RoboStixGpioIn );
+
+ // TODO: Set ATM_IRQ line to generate an interrupt
+
+// printk( "IRQ\n" );
+// robostix_configure_pin( ROBOSTIX_GPIO_ATM_IRQ, RoboStixGpioIn );
+
+ // Configure the output pins. We set the GPIO value register before
+ // setting configuring it as a GPIO so that we don't create a glitch.
+
+ SET_GPIO( ROBOSTIX_GPIO_VCC5_ENABLE, 1 ); // Voltage regulator on (active high)
+ robostix_configure_pin( ROBOSTIX_GPIO_VCC5_ENABLE, RoboStixGpioOut );
+
+ SET_GPIO( ROBOSTIX_GPIO_ATM_RESET, 0 ); // AVR held in Reset (active low)
+ robostix_configure_pin( ROBOSTIX_GPIO_ATM_RESET, RoboStixGpioOut );
+
+ // The values of these pins don't really matter.
+
+ robostix_configure_pin( ROBOSTIX_GPIO_ATM_SCK, RoboStixGpioOut );
+ robostix_configure_pin( ROBOSTIX_GPIO_ATM_SS, RoboStixGpioOut );
+ robostix_configure_pin( ROBOSTIX_GPIO_ATM_MOSI, RoboStixGpioOut );
+
+ // Finally enable the '245
+
+ SET_GPIO( ROBOSTIX_GPIO_245_ENABLE, 0 ); // '245 enabled (active low)
+ robostix_configure_pin( ROBOSTIX_GPIO_245_ENABLE, RoboStixGpioOut );
+
+ // Don't change the configuration of the IR TxD/RxD here. Instead we
+ // save/restore using the PPCLAIM/PPRELEASE which brackets when avrdude
+ // is doing the actual programming.
+
+ // TODO: Probably configure IR TxD as UART
+
+ // Register our device. The device becomes "active" as soon as cdev_add
+ // is called.
+
+ cdev_init( &gRobostixCDev, &robostix_fops );
+ gRobostixCDev.owner = THIS_MODULE;
+
+ if (( rc = cdev_add( &gRobostixCDev, gRobostixDevNum, 1 )) != 0 )
+ {
+ printk( KERN_WARNING "robostix: cdev_add failed: %d\n", rc );
+ return rc;
+ }
+
+ gRobostixClass = class_create( THIS_MODULE, ROBOSTIX_DEV_NAME );
+ if ( IS_ERR( gRobostixClass ))
+ {
+ printk( KERN_WARNING "robostix: Unable to create class\n" );
+ return -1;
+ }
+
+ class_device_create( gRobostixClass, NULL, gRobostixDevNum, NULL, ROBOSTIX_DEV_NAME );
+
+ return 0;
+
+} // robostix_init
+
+/****************************************************************************
+*
+* robostix_ioctl
+*
+* Called to process ioctl requests
+*
+*****************************************************************************/
+
+int robostix_ioctl( struct inode *inode, struct file *file, unsigned int cmd, unsigned long arg )
+{
+ int err;
+ int userVal;
+
+ ROBO_DEBUG( Trace, "type: '%c' cmd: 0x%x\n", _IOC_TYPE( cmd ), _IOC_NR( cmd ));
+
+ if (( _IOC_TYPE( cmd ) != ROBOSTIX_IOCTL_MAGIC )
+ || ( _IOC_NR( cmd ) < ROBOSTIX_CMD_FIRST )
+ || ( _IOC_NR( cmd ) >= ROBOSTIX_CMD_LAST ))
+ {
+ // Since we emulate some of the parallel port commands, we need to allow
+ // those as well.
+
+ if (( _IOC_TYPE( cmd ) != PP_IOCTL )
+ || ( _IOC_NR( cmd ) < 0x80 )
+ || ( _IOC_NR( cmd ) >= 0x9b ))
+ {
+ return -ENOTTY;
+ }
+ }
+
+ // Note that _IOC_DIR Read/Write is from the perspective of userland. access_ok
+ // is from the perspective of kernelland.
+
+ err = 0;
+ if (( _IOC_DIR( cmd ) & _IOC_READ ) != 0 )
+ {
+ err |= !access_ok( VERIFY_WRITE, (void *)arg, _IOC_SIZE( cmd ));
+ }
+ if (( _IOC_DIR( cmd ) & _IOC_WRITE ) != 0 )
+ {
+ err |= !access_ok( VERIFY_READ, (void *)arg, _IOC_SIZE( cmd ));
+ }
+ if ( err )
+ {
+ ROBO_DEBUG( Error, "arg pointer is invalid\n" );
+ return -EFAULT;
+ }
+
+ switch ( cmd )
+ {
+ case ROBOSTIX_IOCTL_POWER_VCC5:
+ {
+ ROBO_DEBUG( Ioctl, "Power: %ld\n", arg );
+
+#if 1
+ // Until I figure something else out, the only way I can get the
+ // power to really go off is to also turn off the '245. This means
+ // that we'll lose the console, so you better be turning things
+ // back on real soon now
+
+ SET_GPIO( ROBOSTIX_GPIO_245_ENABLE, !arg ); // '245 is active low
+
+ // Also - I noticed that the Console connector on the Robostix has
+ // Vcc5 going to it, which means that if a TTL <=> RS232 converter
+ // is being powered off the robostix, we'll lose our console as
+ // soon as the voltage regulator (which generates Vcc5) gets
+ // turned off.
+
+#else
+ // In order to truly power off the robostix, we need to turn off
+ // the voltage regulator. We assume that the '245 stays on so we
+ // continue to get our console. This also means that we need to
+ // take all of the GPIO lines low to eliminate any leak-thru
+ // current.
+
+ if ( arg )
+ {
+ // Powering on - Configure I/O pins in "typical" manner.
+
+ // TODO: Probably set MOSI/SCK/SS back to NSSP
+ // TODO: Probably set IR TxD back to UART
+ }
+ else
+ {
+ // Powering off. Make them all GPIO's so that we can force
+ // them low.
+
+ SET_GPIO( ROBOSTIX_GPIO_ATM_RESET, 0 );
+ SET_GPIO( ROBOSTIX_GPIO_ATM_MOSI, 0 );
+ SET_GPIO( ROBOSTIX_GPIO_ATM_SCK, 0 );
+ SET_GPIO( ROBOSTIX_GPIO_ATM_SS, 0 );
+ SET_GPIO( ROBOSTIX_GPIO_IR_TXD_5V, 0 );
+
+ robostix_configure_pin( ROBOSTIX_GPIO_ATM_RESET, RoboStixGpioOut );
+ robostix_configure_pin( ROBOSTIX_GPIO_ATM_MOSI, RoboStixGpioOut );
+ robostix_configure_pin( ROBOSTIX_GPIO_ATM_SCK, RoboStixGpioOut );
+ robostix_configure_pin( ROBOSTIX_GPIO_ATM_SS, RoboStixGpioOut );
+ robostix_configure_pin( ROBOSTIX_GPIO_IR_TXD_5V, RoboStixGpioOut );
+
+ // Grr - ATM_SCL and ATM_SDA are both pulled up to V_BATT,
+ // so we probably need to make these go low too, which effectively
+ // means that we lose the i2c bus.
+ }
+#endif
+
+ SET_GPIO( ROBOSTIX_GPIO_VCC5_ENABLE, arg ); // Voltage regulator is active high
+ break;
+ }
+
+ case ROBOSTIX_IOCTL_RESET:
+ {
+ if ( arg == ROBOSTIX_PIN_PULSE )
+ {
+ // The ATMega128 datasheet says that the reset pulse needs
+ // to have a minimum pulse width of 1.5 usec.
+
+ ROBO_DEBUG( Ioctl, "Reset: %ld (pulse)\n", arg );
+
+ SET_GPIO( ROBOSTIX_GPIO_ATM_RESET, 0 ); // Reset is active low
+ udelay( 3 );
+ SET_GPIO( ROBOSTIX_GPIO_ATM_RESET, 1 );
+ }
+ else
+ {
+ // Reset is active low, so "on" means low
+
+ ROBO_DEBUG( Ioctl, "Reset: %ld\n", arg );
+
+ SET_GPIO( ROBOSTIX_GPIO_ATM_RESET, !arg );
+ }
+ break;
+ }
+
+ case ROBOSTIX_IOCTL_245_ENABLE:
+ {
+ // The 245 is active low, so we invert the sense of on/off
+
+ ROBO_DEBUG( Ioctl, "245 Enable: %ld\n", arg );
+
+ if ( arg != 0 )
+ {
+ printk( KERN_WARNING "Robostix: Warning turning '245 off - console may become inactive\n" );
+
+ // Allow some time for the above warning to get printed on the
+ // console before we turn it off.
+
+ set_current_state( TASK_INTERRUPTIBLE );
+ schedule_timeout( 2 );
+ }
+
+ SET_GPIO( ROBOSTIX_GPIO_245_ENABLE, !arg );
+ break;
+ }
+
+ case ROBOSTIX_IOCTL_SET_SCK: // out
+ {
+ ROBO_DEBUG( Ioctl, "Set SCK: %ld\n", arg );
+
+ SET_GPIO( ROBOSTIX_GPIO_ATM_SCK, arg );
+ break;
+ }
+
+ case ROBOSTIX_IOCTL_SET_SS: // out
+ {
+ ROBO_DEBUG( Ioctl, "Set SS: %ld\n", arg );
+
+ SET_GPIO( ROBOSTIX_GPIO_ATM_SS, arg );
+ break;
+ }
+
+ case ROBOSTIX_IOCTL_SET_IR_TXD: // out
+ {
+ // This particular ioctl should only ever be called as part of
+ // somebody testing something. We assume that they'll be smart
+ // enough to reconfigure when they're done.
+
+ ROBO_DEBUG( Ioctl, "Set IR TxD: %ld\n", arg );
+
+ robostix_configure_pin( ROBOSTIX_GPIO_IR_TXD_5V, RoboStixGpioOut );
+
+ SET_GPIO( ROBOSTIX_GPIO_IR_TXD_5V, arg );
+ break;
+ }
+
+ case ROBOSTIX_IOCTL_GET_IR_RXD: // in
+ {
+ // This particular ioctl should only ever be called as part of
+ // somebody testing something. We assume that they'll be smart
+ // enough to reconfigure when they're done.
+
+ robostix_configure_pin( ROBOSTIX_GPIO_IR_RXD_5V, RoboStixGpioIn );
+
+ userVal = GET_GPIO( ROBOSTIX_GPIO_IR_RXD_5V );
+ if ( copy_to_user( (int *)arg, &userVal, sizeof( userVal )) != 0 )
+ {
+ return -EFAULT;
+ }
+
+ ROBO_DEBUG( Ioctl, "Get IR RxD: %d\n", userVal );
+ break;
+ }
+
+ case ROBOSTIX_IOCTL_SET_MOSI: // out
+ {
+ ROBO_DEBUG( Ioctl, "Set MOSI: %ld\n", arg );
+
+ SET_GPIO( ROBOSTIX_GPIO_ATM_MOSI, arg );
+ break;
+ }
+
+ case ROBOSTIX_IOCTL_GET_MISO: // in
+ {
+ userVal = GET_GPIO( ROBOSTIX_GPIO_ATM_MISO );
+ if ( copy_to_user( (int *)arg, &userVal, sizeof( userVal )) != 0 )
+ {
+ return -EFAULT;
+ }
+ ROBO_DEBUG( Ioctl, "Get MISO: %d\n", userVal );
+ break;
+ }
+
+ case ROBOSTIX_IOCTL_GET_IRQ: // in
+ {
+ userVal = GET_GPIO( ROBOSTIX_GPIO_ATM_IRQ );
+ if ( copy_to_user( (int *)arg, &userVal, sizeof( userVal )) != 0 )
+ {
+ return -EFAULT;
+ }
+ ROBO_DEBUG( Ioctl, "Get IRQ: %d\n", userVal );
+ break;
+ }
+
+ case ROBOSTIX_IOCTL_DELAY_USEC:
+ {
+ ROBO_DEBUG( Ioctl, "Delay: %ld usecs\n", arg );
+
+ udelay( arg );
+ break;
+ }
+
+ //-------------------------------------------------------------------
+ //
+ // Parallel port interface. Some documentation on these ioctls can
+ // be found here:
+ // http://www.kernelnewbies.org/documents/kdoc/parportbook/x623.html
+ //
+
+ case PPRSTATUS: // Read status register
+ {
+ unsigned char statusReg = 0;
+ int miso;
+
+ // The only thing mapped into the status register, is MISO.
+
+ miso = GET_GPIO( ROBOSTIX_GPIO_ATM_PGM_MISO );
+
+
+ if ( miso )
+ {
+ statusReg |= PPI_STATUS_MISO_MASK;
+ }
+
+ ROBO_DEBUG( Ioctl, "PPRSTATUS: 0x%02x miso:%d\n", statusReg, miso );
+
+ if ( copy_to_user( (unsigned char *)arg, &statusReg, sizeof( statusReg )) != 0 )
+ {
+ return -EFAULT;
+ }
+ break;
+ }
+
+ case PPRCONTROL: // Read control register
+ {
+ // Called once to initialize avrdude's shadow registers
+
+ unsigned char controlReg = 0;
+
+ ROBO_DEBUG( Ioctl, "PPRCONTROL: 0x%02x\n", controlReg );
+
+ if ( copy_to_user( (unsigned char *)arg, &controlReg, sizeof( controlReg )) != 0 )
+ {
+ return -EFAULT;
+ }
+ break;
+ }
+
+ case PPWCONTROL: // Write control register
+ {
+ unsigned char controlReg = 0;
+
+ if ( copy_from_user( &controlReg, (unsigned char *)arg, sizeof( controlReg )) != 0 )
+ {
+ return -EFAULT;
+ }
+
+ ROBO_DEBUG( Ioctl, "PPWCONTROL: 0x%02x\n", controlReg );
+ break;
+ }
+
+ case PPRDATA: // Read data register
+ {
+ // Called once to initialize avrdude's shadow registers
+
+ unsigned char dataReg = 0;
+ int power, sck, reset, mosi;
+
+ power = GET_GPIO( ROBOSTIX_GPIO_VCC5_ENABLE );
+ sck = GET_GPIO( ROBOSTIX_GPIO_ATM_SCK );
+ reset = GET_GPIO( ROBOSTIX_GPIO_ATM_RESET );
+ mosi = GET_GPIO( ROBOSTIX_GPIO_ATM_PGM_MOSI );
+
+ if ( power )
+ {
+ dataReg |= PPI_DATA_VCC_MASK;
+ }
+ if ( reset )
+ {
+ dataReg |= PPI_DATA_RESET_MASK;
+ }
+ if ( sck )
+ {
+ dataReg |= PPI_DATA_SCK_MASK;
+ }
+ if ( mosi )
+ {
+ dataReg |= PPI_DATA_MOSI_MASK;
+ }
+
+ ROBO_DEBUG( Ioctl, "PPRDATA: 0x%02x pow:%d reset:%d sck:%d mosi: %d\n", dataReg, power, reset, sck, mosi );
+
+ if ( copy_to_user( (unsigned char *)arg, &dataReg, sizeof( dataReg )) != 0 )
+ {
+ return -EFAULT;
+ }
+ break;
+ }
+
+ case PPWDATA: // Write data register
+ {
+ unsigned char dataReg = 0;
+ int power, sck, reset, mosi;
+
+ if ( copy_from_user( &dataReg, (unsigned char *)arg, sizeof( dataReg )) != 0 )
+ {
+ return -EFAULT;
+ }
+
+ power = ( dataReg & PPI_DATA_VCC_MASK ) != 0;
+ sck = ( dataReg & PPI_DATA_SCK_MASK ) != 0;
+ reset = ( dataReg & PPI_DATA_RESET_MASK ) != 0;
+ mosi = ( dataReg & PPI_DATA_MOSI_MASK ) != 0;
+
+ ROBO_DEBUG( Ioctl, "PPWDATA: 0x%02x pow:%d reset:%d sck:%d mosi: %d\n", dataReg, power, reset, sck, mosi );
+
+ SET_GPIO( ROBOSTIX_GPIO_VCC5_ENABLE, power );
+ SET_GPIO( ROBOSTIX_GPIO_245_ENABLE, !power ); // 245 is active low
+
+ SET_GPIO( ROBOSTIX_GPIO_ATM_SCK, sck );
+ SET_GPIO( ROBOSTIX_GPIO_ATM_RESET, reset );
+ SET_GPIO( ROBOSTIX_GPIO_ATM_PGM_MOSI, mosi );
+ break;
+ }
+
+ case PPCLAIM: // Claim the parallel port
+ {
+ ROBO_DEBUG( Ioctl, "PPCLAIM\n" );
+
+ // We use this opportunity to save away the state of the IR Txd/Rxd lines
+ // and convert them to GPIO.
+
+ robostix_get_pin_config( ROBOSTIX_GPIO_IR_TXD_5V, &gIrTxdConfig );
+ robostix_get_pin_config( ROBOSTIX_GPIO_IR_RXD_5V, &gIrRxdConfig );
+
+ robostix_configure_pin( ROBOSTIX_GPIO_IR_TXD_5V, RoboStixGpioOut );
+ robostix_configure_pin( ROBOSTIX_GPIO_IR_RXD_5V, RoboStixGpioIn );
+ break;
+ }
+
+ case PPRELEASE: // Release the parallel port
+ {
+ ROBO_DEBUG( Ioctl, "PPRELEASE\n" );
+
+ // We use this opportunity to restore the state of the IR Txd/Rxd lines
+ // back to what they were.
+
+ robostix_set_pin_config( ROBOSTIX_GPIO_IR_TXD_5V, &gIrTxdConfig );
+ robostix_set_pin_config( ROBOSTIX_GPIO_IR_RXD_5V, &gIrRxdConfig );
+ break;
+ }
+
+ case PPDATADIR:
+ {
+ int dataDirReg;
+
+ if ( copy_from_user( &dataDirReg, (int *)arg, sizeof( dataDirReg )) != 0 )
+ {
+ return -EFAULT;
+ }
+
+ ROBO_DEBUG( Ioctl, "PPDATADIR: 0x%02x\n", dataDirReg );
+ break;
+ }
+
+ default:
+ {
+ ROBO_DEBUG( Error, "Unrecognized ioctl: '0x%x'\n", cmd );
+ return -ENOTTY;
+ }
+ }
+
+ return 0;
+
+} // robostix_ioctl
+
+/****************************************************************************
+*
+* robostix_open
+*
+* Called to process open requests
+*
+*****************************************************************************/
+
+int robostix_open( struct inode *inode, struct file *file )
+{
+ ROBO_DEBUG( Trace, "major = %d, minor = %d\n", MAJOR( inode->i_rdev ), MINOR( inode->i_rdev ));
+
+ return 0;
+
+} // robostix_open
+
+/****************************************************************************
+*
+* robostix_release
+*
+* Called when the last istance is closed.
+*
+*****************************************************************************/
+
+int robostix_release( struct inode *inode, struct file *file )
+{
+ ROBO_DEBUG( Trace, "called\n" );
+
+ return 0;
+
+} // robostix_release
+
+/****************************************************************************/
+
+module_init(robostix_init);
+module_exit(robostix_exit);
+
+MODULE_AUTHOR("Dave Hylands");
+MODULE_DESCRIPTION("gumstix/robostix driver");
+MODULE_LICENSE("Dual BSD/GPL");
+
--- /dev/null
+/****************************************************************************
+*
+* Copyright (c) 2006 Dave Hylands <dhylands@gmail.com>
+*
+* 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.
+*
+* Alternatively, this software may be distributed under the terms of BSD
+* license.
+*
+* See README and COPYING for more details.
+*
+****************************************************************************/
+/**
+*
+* robostix_drv.h
+*
+* PURPOSE:
+*
+* This implements a driver for using the robostix from the gumstix
+*
+* Initially, this contains the required support to emulate enough of the
+* parallel port interface to allow avrdude to program the ATMega128.
+*
+*****************************************************************************/
+
+#if !defined( LINUX_ROBOSTIX_H )
+#define LINUX_ROBOSTIX_H )
+
+/* ---- Include Files ----------------------------------------------------- */
+
+#include <linux/ioctl.h>
+
+/* ---- Constants and Types ----------------------------------------------- */
+
+#define ROBOSTIX_MAJOR 240
+
+#define ROBOSTIX_IOCTL_MAGIC 'R'
+
+/**
+ * Deefines for each of the commands. Note that since we want to reduce
+ * the possibility that a user mode program gets out of sync with a given
+ * driver, we explicitly assign a value to each enumeration. This makes
+ * it more difficult to stick new ioctl's in the middle of the list.
+ */
+
+typedef enum
+{
+ ROBOSTIX_CMD_FIRST = 0x80,
+
+ ROBOSTIX_CMD_POWER_VCC5 = 0x80,
+ ROBOSTIX_CMD_RESET = 0x81,
+ ROBOSTIX_CMD_245_ENABLE = 0x82,
+ ROBOSTIX_CMD_SET_SCK = 0x83,
+ ROBOSTIX_CMD_SET_SS = 0x84,
+ ROBOSTIX_CMD_SET_IR_TXD = 0x85,
+ ROBOSTIX_CMD_GET_IR_RXD = 0x86,
+ ROBOSTIX_CMD_SET_MOSI = 0x87,
+ ROBOSTIX_CMD_GET_MISO = 0x88,
+ ROBOSTIX_CMD_GET_IRQ = 0x89,
+ ROBOSTIX_CMD_DELAY_USEC = 0x8A, // value is hardocded in uisp DAPA.C
+
+ /* Insert new ioctls here */
+
+ ROBOSTIX_CMD_LAST,
+
+} ROBOSTIX_CMD;
+
+/*
+ * The following are arguments to the various ioctl's
+ */
+
+#define ROBOSTIX_PIN_OFF 0
+#define ROBOSTIX_PIN_ON 1
+#define ROBOSTIX_PIN_PULSE 2 // only used or Reset
+
+/*
+ * Definitions for the actual ioctl commands
+ */
+
+#define ROBOSTIX_IOCTL_POWER_VCC5 _IO( ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_POWER_VCC5 ) // arg is int
+#define ROBOSTIX_IOCTL_RESET _IO( ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_RESET ) // arg is int
+#define ROBOSTIX_IOCTL_245_ENABLE _IO( ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_245_ENABLE ) // arg is int
+#define ROBOSTIX_IOCTL_SET_SCK _IO( ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_SET_SCK ) // arg is int
+#define ROBOSTIX_IOCTL_SET_SS _IO( ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_SET_SS ) // arg is int
+#define ROBOSTIX_IOCTL_SET_IR_TXD _IO( ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_SET_IR_TXD ) // arg is int
+#define ROBOSTIX_IOCTL_GET_IR_RXD _IOR( ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_GET_IR_RXD, int ) // arg is int *
+#define ROBOSTIX_IOCTL_SET_MOSI _IO( ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_SET_MOSI ) // arg is int
+#define ROBOSTIX_IOCTL_GET_MISO _IOR( ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_GET_MISO, int ) // arg is int *
+#define ROBOSTIX_IOCTL_GET_IRQ _IOR( ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_GET_IRQ, int ) // arg is int *
+#define ROBOSTIX_IOCTL_DELAY_USEC _IO( ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_DELAY_USEC ) // arg is int
+
+
+/*
+ * Definitions for sysctl. The top level define has to be unique system wide.
+ * The kernel defines values 1 thru about 10 (see include/linunx/sysctl.h)
+ */
+
+#define CTL_ROBOSTIX 0x526F626F /* 'Robo' in hex form */
+
+/*
+ * The following are for entries in /proc/sys/robostix
+ */
+
+enum
+{
+ CTL_ROBOSTIX_DEBUG_TRACE = 101,
+ CTL_ROBOSTIX_DEBUG_IOCTL = 102,
+ CTL_ROBOSTIX_DEBUG_ERROR = 103
+};
+
+#endif // LINUX_ROBOSTIX_H
+
--- /dev/null
+#!/bin/sh
+#
+# Start the robostix
+#
+
+start() {
+ echo "Starting robostix..."
+
+ # Make sure ttyS2 is setup
+ echo "AF2 in" > /proc/gpio/GPIO46
+ echo "AF1 out" > /proc/gpio/GPIO47
+
+ # Turn on the robostix '245
+ echo "GPIO out clear" > /proc/gpio/GPIO72
+
+ # Turn on the robostix Power
+ echo "GPIO out set" > /proc/gpio/GPIO70
+
+ # load driver
+ /sbin/modprobe robostix
+
+ # Take the robostix out of reset
+ echo "GPIO out set" > /proc/gpio/GPIO73
+
+}
+stop() {
+ echo "Stopping robostix..."
+
+ # Put the robostix into reset
+ echo "GPIO out clear" > /proc/gpio/GPIO73
+}
+restart() {
+ stop
+ start
+}
+
+case "$1" in
+ start)
+ start
+ ;;
+ stop)
+ stop
+ ;;
+ restart)
+ restart
+ ;;
+ *)
+ echo $"Usage: $0 {start|stop|restart}"
+ exit 1
+esac
+
+exit $?
+
--- /dev/null
+DESCRIPTION = "Linux Driver for Gumstix robostix daughtercards"
+SECTION = "base"
+PRIORITY = "optional"
+LICENSE = "GPL"
+RDEPENDS = "kernel (${KERNEL_VERSION})"
+DEPENDS = "virtual/kernel"
+
+PR = "r1"
+
+INITSCRIPT_NAME = "robostix"
+INITSCRIPT_PARAMS = "defaults 10"
+
+SRC_URI = "\
+ file://Makefile \
+ file://robostix.h \
+ file://robostix.c \
+ file://robostix.init \
+ "
+
+S = "${WORKDIR}"
+
+inherit module update-rc.d
+
+do_install() {
+ install -d ${D}${base_libdir}/modules/${KERNEL_VERSION}/extra/
+ install -m 0644 ${WORKDIR}/robostix.ko ${D}${base_libdir}/modules/${KERNEL_VERSION}/extra/
+
+ install -d ${D}${sysconfdir}/init.d/
+ install -m 0755 ${WORKDIR}/robostix.init ${D}${sysconfdir}/init.d/robostix
+}
+
+PACKAGES = "${PN}"
+
+FILES_${PN} = "${base_libdir}/modules/"
+FILES_${PN} += "${sysconfdir}/"
+
--- /dev/null
+DESCRIPTION = "robostix programs"
+SECTION = "base"
+PRIORITY = "required"
+PR = "r1"
+
+DEPENDS = robostix-module
+
+SRC_URI = " \
+ file://robostix.h \
+ file://robostix.c \
+ "
+
+CMD_NAME=robostix
+
+S = "${WORKDIR}"
+
+do_compile () {
+ ${CC} -o ${CMD_NAME} *.c
+}
+
+do_install () {
+ install -d ${D}${bindir}/
+ install -m 0755 ${WORKDIR}/${CMD_NAME} ${D}${bindir}/
+}
+
+PACKAGES = "${PN}"
+FILES_${PN} = "${bindir}/*"
+
--- /dev/null
+/****************************************************************************
+*
+* Copyright (c) 2006 Dave Hylands <dhylands@gmail.com>
+*
+* 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.
+*
+* Alternatively, this software may be distributed under the terms of BSD
+* license.
+*
+* See README and COPYING for more details.
+*
+****************************************************************************/
+/**
+*
+* robostix.c
+*
+* PURPOSE:
+*
+* This implements the usermode program for talking to the robostix.
+*
+*****************************************************************************/
+
+/* ---- Include Files ---------------------------------------------------- */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <fcntl.h>
+#include <errno.h>
+
+#include "robostix.h"
+
+/* ---- Public Variables ------------------------------------------------- */
+
+int gFd = -1;
+
+int gVal;
+
+/* ---- Private Constants and Types -------------------------------------- */
+/* ---- Private Variables ------------------------------------------------ */
+
+typedef struct
+{
+ const char *cmdStr;
+ const char *argStr;
+ const char *helpStr;
+ int (*parseArgs)( int argc, char **argv );
+ void (*execFunc)( int cmd );
+ int cmd;
+
+} Cmd;
+
+int ParseNone( int argc, char **argv );
+int ParseOnOffArg( int argc, char **argv );
+int ParseOnOffPulseArg( int argc, char **argv );
+void Usage( void );
+
+void Power( int cmd );
+void ReadIOctl( int cmd );
+void SimpleIOctl( int cmd );
+
+Cmd gCmd[] =
+{
+ { "power", "on|off", "Controls the robostix voltage regulators", ParseOnOffArg, Power, -1 },
+ { "reset", "on|off|pulse", "Resets the robostix", ParseOnOffPulseArg, SimpleIOctl, ROBOSTIX_IOCTL_RESET },
+ { "245", "on|off", "Controls the 245 buffer chip", ParseOnOffArg, SimpleIOctl, ROBOSTIX_IOCTL_245_ENABLE },
+
+ { "sck", "on|off", "Sets/clears the SCK line", ParseOnOffArg, SimpleIOctl, ROBOSTIX_IOCTL_SET_SCK },
+ { "ss", "on|off", "Sets/clears the SS line", ParseOnOffArg, SimpleIOctl, ROBOSTIX_IOCTL_SET_SS },
+ { "txd", "on|off", "Sets/clears the IR-TXD line", ParseOnOffArg, SimpleIOctl, ROBOSTIX_IOCTL_SET_IR_TXD },
+ { "mosi", "on|off", "Sets/clears the MOSI line", ParseOnOffArg, SimpleIOctl, ROBOSTIX_IOCTL_SET_MOSI },
+
+ { "rxd", "", "Reads the IR-RXD line", ParseNone, ReadIOctl, ROBOSTIX_IOCTL_GET_IR_RXD },
+ { "irq", "", "Reads the TM-IRQ line", ParseNone, ReadIOctl, ROBOSTIX_IOCTL_GET_IRQ },
+ { "miso", "", "Reads the MISO line", ParseNone, ReadIOctl, ROBOSTIX_IOCTL_GET_MISO },
+
+ { NULL }
+};
+
+/* ---- Private Function Prototypes -------------------------------------- */
+/* ---- Functions -------------------------------------------------------- */
+
+
+/****************************************************************************
+*
+* main
+*
+***************************************************************************/
+
+int main( int argc, char **argv )
+{
+ char *cmdStr;
+ int argIdx;
+ Cmd *cmd;
+
+ if ( argc == 1 )
+ {
+ Usage( );
+ exit( 0 );
+ }
+
+ if (( gFd = open( "/dev/robostix", O_RDWR )) < 0 )
+ {
+ perror( "Unable to open /dev/robostix" );
+ exit( 1 );
+ }
+
+ argIdx = 1;
+ cmdStr = argv[ argIdx++ ];
+
+ for ( cmd = gCmd; cmd->cmdStr != NULL; cmd++ )
+ {
+ if ( strcasecmp( cmdStr, cmd->cmdStr ) == 0 )
+ {
+ break;
+ }
+ }
+ if ( cmd->cmdStr == NULL )
+ {
+ fprintf( stderr, "Unrecognized command: '%s'\n", cmdStr );
+ exit( 1 );
+ }
+
+ if ( cmd->parseArgs( argc - argIdx, &argv[ argIdx ] ))
+ {
+ cmd->execFunc( cmd->cmd );
+ }
+
+ close( gFd );
+
+ exit( 0 );
+ return 0;
+
+} // main
+
+/****************************************************************************
+*
+* Checks to see if the argument is on/off (or equivalent)
+*
+***************************************************************************/
+
+int IsOnOffArg( int argc, char **argv )
+{
+ if (( strcasecmp( *argv, "on" ) == 0 )
+ || ( strcasecmp( *argv, "t" ) == 0 )
+ || ( strcasecmp( *argv, "1" ) == 0 ))
+ {
+ gVal = 1;
+ return 1;
+ }
+
+ if (( strcasecmp( *argv, "off" ) == 0 )
+ || ( strcasecmp( *argv, "f" ) == 0 )
+ || ( strcasecmp( *argv, "0" ) == 0 ))
+ {
+ gVal = 0;
+ return 1;
+ }
+
+ return 0;
+
+} // IsOnOffArg
+
+/****************************************************************************
+*
+* Parses no arguments
+*
+***************************************************************************/
+
+int ParseNone( int argc, char **argv )
+{
+ return 1;
+
+} // ParseNone
+
+/****************************************************************************
+*
+* Parses a command line argument for legel on/off values
+*
+***************************************************************************/
+
+int ParseOnOffArg( int argc, char **argv )
+{
+ if ( IsOnOffArg( argc, argv ))
+ {
+ return 1;
+ }
+
+ fprintf( stderr, "Expecting on/off, found: '%s'\n", *argv );
+ return 0;
+
+} // ParseOnOffArg
+
+/****************************************************************************
+*
+* Parses a command line argument for legel on/off values
+*
+***************************************************************************/
+
+int ParseOnOffPulseArg( int argc, char **argv )
+{
+ if (( strcasecmp( *argv, "pulse" ) == 0 )
+ || ( strcasecmp( *argv, "2" ) == 0 ))
+ {
+ gVal = 2;
+ return 1;
+ }
+
+ if ( IsOnOffArg( argc, argv ))
+ {
+ return 1;
+ }
+
+ fprintf( stderr, "Expecting on/off/pulse, found: '%s'\n", *argv );
+ return 0;
+
+} // ParseOnoffPulseArg
+
+/****************************************************************************
+*
+* Power
+*
+***************************************************************************/
+
+void Power( int cmd )
+{
+ SimpleIOctl( ROBOSTIX_IOCTL_POWER_VCC5 );
+
+} // Power
+
+/****************************************************************************
+*
+* SimpleIOctl
+*
+***************************************************************************/
+
+void SimpleIOctl( int cmd )
+{
+ if ( ioctl( gFd, cmd, gVal ) != 0 )
+ {
+ fprintf( stderr, "ioctl call failed: %d\n", errno );
+ }
+
+} // SimpleIOctl
+
+/****************************************************************************
+*
+* SimpleIOctl
+*
+***************************************************************************/
+
+void ReadIOctl( int cmd )
+{
+ if ( ioctl( gFd, cmd, &gVal ) != 0 )
+ {
+ fprintf( stderr, "ioctl call failed: %d\n", errno );
+ }
+
+} // ReadIOctl
+
+/****************************************************************************
+*
+* Usage
+*
+***************************************************************************/
+
+void Usage( void )
+{
+ Cmd *cmd;
+
+ for ( cmd = gCmd; cmd->cmdStr != NULL; cmd++ )
+ {
+ printf( "%-12s %-12s %s\n", cmd->cmdStr, cmd->argStr, cmd->helpStr );
+ }
+
+} // Usage
+
--- /dev/null
+/****************************************************************************
+*
+* Copyright (c) 2006 Dave Hylands <dhylands@gmail.com>
+*
+* 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.
+*
+* Alternatively, this software may be distributed under the terms of BSD
+* license.
+*
+* See README and COPYING for more details.
+*
+****************************************************************************/
+/**
+*
+* robostix_drv.h
+*
+* PURPOSE:
+*
+* This implements a driver for using the robostix from the gumstix
+*
+* Initially, this contains the required support to emulate enough of the
+* parallel port interface to allow avrdude to program the ATMega128.
+*
+*****************************************************************************/
+
+#if !defined( LINUX_ROBOSTIX_H )
+#define LINUX_ROBOSTIX_H )
+
+/* ---- Include Files ----------------------------------------------------- */
+
+#include <linux/ioctl.h>
+
+/* ---- Constants and Types ----------------------------------------------- */
+
+#define ROBOSTIX_MAJOR 240
+
+#define ROBOSTIX_IOCTL_MAGIC 'R'
+
+/**
+ * Deefines for each of the commands. Note that since we want to reduce
+ * the possibility that a user mode program gets out of sync with a given
+ * driver, we explicitly assign a value to each enumeration. This makes
+ * it more difficult to stick new ioctl's in the middle of the list.
+ */
+
+typedef enum
+{
+ ROBOSTIX_CMD_FIRST = 0x80,
+
+ ROBOSTIX_CMD_POWER_VCC5 = 0x80,
+ ROBOSTIX_CMD_RESET = 0x81,
+ ROBOSTIX_CMD_245_ENABLE = 0x82,
+ ROBOSTIX_CMD_SET_SCK = 0x83,
+ ROBOSTIX_CMD_SET_SS = 0x84,
+ ROBOSTIX_CMD_SET_IR_TXD = 0x85,
+ ROBOSTIX_CMD_GET_IR_RXD = 0x86,
+ ROBOSTIX_CMD_SET_MOSI = 0x87,
+ ROBOSTIX_CMD_GET_MISO = 0x88,
+ ROBOSTIX_CMD_GET_IRQ = 0x89,
+ ROBOSTIX_CMD_DELAY_USEC = 0x8A, // value is hardocded in uisp DAPA.C
+
+ /* Insert new ioctls here */
+
+ ROBOSTIX_CMD_LAST,
+
+} ROBOSTIX_CMD;
+
+/*
+ * The following are arguments to the various ioctl's
+ */
+
+#define ROBOSTIX_PIN_OFF 0
+#define ROBOSTIX_PIN_ON 1
+#define ROBOSTIX_PIN_PULSE 2 // only used or Reset
+
+/*
+ * Definitions for the actual ioctl commands
+ */
+
+#define ROBOSTIX_IOCTL_POWER_VCC5 _IO( ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_POWER_VCC5 ) // arg is int
+#define ROBOSTIX_IOCTL_RESET _IO( ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_RESET ) // arg is int
+#define ROBOSTIX_IOCTL_245_ENABLE _IO( ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_245_ENABLE ) // arg is int
+#define ROBOSTIX_IOCTL_SET_SCK _IO( ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_SET_SCK ) // arg is int
+#define ROBOSTIX_IOCTL_SET_SS _IO( ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_SET_SS ) // arg is int
+#define ROBOSTIX_IOCTL_SET_IR_TXD _IO( ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_SET_IR_TXD ) // arg is int
+#define ROBOSTIX_IOCTL_GET_IR_RXD _IOR( ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_GET_IR_RXD, int ) // arg is int *
+#define ROBOSTIX_IOCTL_SET_MOSI _IO( ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_SET_MOSI ) // arg is int
+#define ROBOSTIX_IOCTL_GET_MISO _IOR( ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_GET_MISO, int ) // arg is int *
+#define ROBOSTIX_IOCTL_GET_IRQ _IOR( ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_GET_IRQ, int ) // arg is int *
+#define ROBOSTIX_IOCTL_DELAY_USEC _IO( ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_DELAY_USEC ) // arg is int
+
+
+/*
+ * Definitions for sysctl. The top level define has to be unique system wide.
+ * The kernel defines values 1 thru about 10 (see include/linunx/sysctl.h)
+ */
+
+#define CTL_ROBOSTIX 0x526F626F /* 'Robo' in hex form */
+
+/*
+ * The following are for entries in /proc/sys/robostix
+ */
+
+enum
+{
+ CTL_ROBOSTIX_DEBUG_TRACE = 101,
+ CTL_ROBOSTIX_DEBUG_IOCTL = 102,
+ CTL_ROBOSTIX_DEBUG_ERROR = 103
+};
+
+#endif // LINUX_ROBOSTIX_H
+
--- /dev/null
+DESCRIPTION = "robostix programs"
+SECTION = "base"
+PRIORITY = "required"
+PR = "r1"
+
+DEPENDS = robostix-module
+
+SRC_URI = " \
+ file://sertest.c \
+ "
+
+CMD_NAME=sertest
+LDLIBS = -lpthread
+
+S = "${WORKDIR}"
+
+do_compile () {
+ ${CC} ${LDLIBS} -o ${CMD_NAME} *.c
+}
+
+do_install () {
+ install -d ${D}${bindir}/
+ install -m 0755 ${WORKDIR}/${CMD_NAME} ${D}${bindir}/
+}
+
+PACKAGES = "${PN}"
+FILES_${PN} = "${bindir}/*"
+
--- /dev/null
+/****************************************************************************
+*
+* Copyright (c) 2006 Dave Hylands <dhylands@gmail.com>
+*
+* 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.
+*
+* Alternatively, this software may be distributed under the terms of BSD
+* license.
+*
+* See README and COPYING for more details.
+*
+****************************************************************************/
+/**
+*
+* sertest.c
+*
+* PURPOSE:
+*
+* This implements a sample program for accessing the serial port.
+*
+*****************************************************************************/
+
+/* ---- Include Files ---------------------------------------------------- */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <errno.h>
+#include <fcntl.h>
+#include <sys/ioctl.h>
+#include <sys/unistd.h>
+#include <pthread.h>
+#include <getopt.h>
+#include <termios.h>
+
+/* ---- Public Variables ------------------------------------------------- */
+
+int gFd = -1;
+
+int gVal;
+
+/* ---- Private Constants and Types -------------------------------------- */
+/* ---- Private Variables ------------------------------------------------ */
+
+struct option gLongOption[] =
+{
+ // option A Flag V (has_arg, flag, val)
+ // ----------- - ---- ---
+ { "baud", 1, NULL, 'b' },
+ { "debug", 0, NULL, 'd' },
+ { "help", 0, NULL, 'h' },
+ { "port", 1, NULL, 'p' },
+ { "verbose", 0, NULL, 'v' },
+ { 0 },
+
+};
+
+struct
+{
+ speed_t speed;
+ unsigned baudRate;
+} gBaudTable[] =
+{
+ { B50, 50 },
+ { B75, 75 },
+ { B110, 110 },
+ { B134, 134 },
+ { B150, 150 },
+ { B200, 200 },
+ { B300, 300 },
+ { B600, 600 },
+ { B1200, 1200 },
+ { B1800, 1800 },
+ { B2400, 2400 },
+ { B4800, 4800 },
+ { B9600, 9600 },
+ { B19200, 19200 },
+ { B38400, 38400 },
+ { B57600, 57600 },
+ { B115200, 115200 },
+ { B230400, 230400 }
+};
+
+#define ARRAY_LEN(x) ( sizeof( x ) / sizeof( x[ 0 ]))
+
+int gVerbose = 0;
+int gDebug = 0;
+
+int gPortFd = -1;
+
+/* ---- Private Function Prototypes -------------------------------------- */
+
+void *ReaderThread( void *param );
+char *StrMaxCpy( char *dst, const char *src, size_t maxLen );
+char *StrMaxCat( char *dst, const char *src, size_t maxLen );
+void Usage( void );
+
+/* ---- Functions -------------------------------------------------------- */
+
+
+/***************************************************************************
+*
+* main
+*
+****************************************************************************/
+
+int main( int argc, char **argv )
+{
+ int rc;
+ int opt;
+ char devName[ 40 ];
+ const char *baudStr = NULL;
+ const char *portStr = "ttyS2";
+ speed_t baudRate;
+ pthread_t readerThreadId;
+
+ struct termios attr;
+
+ // Parse the command line options
+
+ while (( opt = getopt_long( argc, argv, "b:dhp:v", gLongOption, NULL )) > 0 )
+ {
+ switch ( opt )
+ {
+ case 'b':
+ {
+ baudStr = optarg;
+ break;
+ }
+
+ case 'd':
+ {
+ gDebug = 1;
+ break;
+ }
+
+ case 'p':
+ {
+ portStr = optarg;
+ break;
+ }
+
+ case 'v':
+ {
+ gVerbose = 1;
+ break;
+ }
+ case '?':
+ case 'h':
+ {
+ Usage();
+ return 1;
+ }
+ }
+ }
+
+ devName[ 0 ] = '\0';
+ if ( portStr[ 0 ] != '/' )
+ {
+ StrMaxCpy( devName, "/dev/", sizeof( devName ));
+ }
+ StrMaxCat( devName, portStr, sizeof( devName ));
+
+
+ baudRate = B0;
+ if ( baudStr == NULL )
+ {
+ baudRate = B9600;
+ }
+ else
+ {
+ int baudIdx;
+ int testBaud = atoi( baudStr );
+
+ for ( baudIdx = 0; baudIdx < ARRAY_LEN( gBaudTable ); baudIdx++ )
+ {
+ if ( gBaudTable[ baudIdx ].baudRate == testBaud )
+ {
+ baudRate = gBaudTable[ baudIdx ].speed;
+ break;
+ }
+ }
+
+ if ( baudRate == B0 )
+ {
+ fprintf( stderr, "Unrecognized baud rate: '%s'\n", baudStr );
+ exit( 1 );
+ }
+ }
+
+ if (( gPortFd = open( devName, O_RDWR | O_EXCL )) < 0 )
+ {
+ fprintf( stderr, "Unable to open serial port '%s': %s\n", devName, strerror( errno ));
+ exit( 2 );
+ }
+
+ if ( tcgetattr( gPortFd, &attr ) < 0 )
+ {
+ fprintf( stderr, "Call to tcgetattr failed: %s\n", strerror( errno ));
+ exit( 3 );
+ }
+
+ attr.c_iflag = 0;
+ attr.c_oflag = 0;
+ attr.c_cflag = CLOCAL | CREAD | CS8;
+ attr.c_lflag = 0;
+ attr.c_cc[ VTIME ] = 0; // timeout in tenths of a second
+ attr.c_cc[ VMIN ] = 1; // Only wait for a single char
+
+ cfsetispeed( &attr, baudRate );
+ cfsetospeed( &attr, baudRate );
+
+ if ( tcsetattr( gPortFd, TCSAFLUSH, &attr ) < 0 )
+ {
+ fprintf( stderr, "Call to tcsetattr failed: %s\n", strerror( errno ));
+ exit( 4 );
+ }
+
+ // Put stdin & stdout in unbuffered mode.
+
+ setbuf( stdin, NULL );
+ setbuf( stdout, NULL );
+
+ // Put stdin in raw mode (i.e. turn off canonical mode). Canonical mode
+ // causes the driver to wait for the RETURN character so that line editing
+ // can take place. We also want to turn off ECHO.
+
+ {
+ struct termios tio;
+
+ if ( tcgetattr( fileno( stdin ), &tio ) < 0 )
+ {
+ fprintf( stderr, "Unable to retrieve terminal settings: %s\n", strerror( errno ));
+ exit( 5 );
+ }
+
+ tio.c_lflag &= ~( ICANON | ECHO );
+ tio.c_cc[VTIME] = 0;
+ tio.c_cc[VMIN] = 1;
+
+ if ( tcsetattr( fileno( stdin ), TCSANOW, &tio ) < 0 )
+ {
+ fprintf( stderr, "Unable to update terminal settings: %s\n", strerror( errno ));
+ exit( 6 );
+ }
+ }
+
+ // Kick off the serial port reader thread.
+
+ rc = pthread_create( &readerThreadId, NULL, ReaderThread, NULL );
+ if ( rc != 0 )
+ {
+ fprintf( stderr, "Error creating ReaderThread: %s\n", strerror( rc ));
+ exit( 7 );
+ }
+
+ // Read stdin and send rcvd chars to the serial port
+
+ while ( 1 )
+ {
+ char ch;
+ int chInt = fgetc( stdin );
+ if ( chInt < 0 )
+ {
+ fprintf( stderr, "Exiting...\n" );
+ break;
+ }
+ ch = (char)chInt;
+
+ if ( gDebug )
+ {
+ if (( ch < ' ' ) || ( ch > '~' ))
+ {
+ fprintf( stderr, "stdin Read: 0x%02x '.'\n", ch );
+ }
+ else
+ {
+ fprintf( stderr, "stdin Read: 0x%02x '%c'\n", ch, ch );
+ }
+
+ }
+
+ if ( write( gPortFd, &ch, 1 ) != 1 )
+ {
+ fprintf( stderr, "write to serial port failed: %s\n", strerror( errno ));
+ break;
+ }
+ }
+
+
+ close( gPortFd );
+
+ exit( 0 );
+ return 0; // Get rid of warning about not returning anything
+}
+
+/***************************************************************************/
+/**
+* Thread which processes the incoming serial data.
+*/
+
+void *ReaderThread( void *param )
+{
+ while ( 1 )
+ {
+ char ch;
+ int bytesRead;
+
+ if (( bytesRead = read( gPortFd, &ch, 1 )) < 0 )
+ {
+ fprintf( stderr, "Serial port read failed: %s\n", strerror( errno ));
+ exit( 1 );
+ }
+
+ if ( gDebug )
+ {
+ if (( ch < ' ' ) || ( ch > '~' ))
+ {
+ fprintf( stderr, "Serial Read: 0x%02x '.'\n", ch );
+ }
+ else
+ {
+ fprintf( stderr, "Serial Read: 0x%02x '%c'\n", ch, ch );
+ }
+
+ }
+
+ putc( ch, stdout );
+ }
+
+ return 0;
+
+} // ReaderThread
+
+/***************************************************************************/
+/**
+* Concatenates source to the destination, but makes sure that the
+* destination string (including terminating null), doesn't exceed maxLen.
+*
+* @param dst (mod) String to concatnate onto.
+* @param src (in) String to being added to the end of @a dst.
+* @param maxLen (in) Maximum length that @a dst is allowed to be.
+*
+* @return A pointer to the destination string.
+*/
+
+char *StrMaxCat( char *dst, const char *src, size_t maxLen )
+{
+ size_t dstLen = strlen( dst );
+
+ if ( dstLen < maxLen )
+ {
+ StrMaxCpy( &dst[ dstLen ], src, maxLen - dstLen );
+ }
+
+ return dst;
+
+} /* StrMaxCat */
+
+/***************************************************************************/
+/**
+* Copies the source to the destination, but makes sure that the
+* destination string (including terminating null), doesn't exceed
+* maxLen.
+*
+* @param dst (out) Place to store the string copy.
+* @param src (in) String to copy.
+* @param maxLen (in) Maximum number of characters to copy into @a dst.
+*
+* @return A pointer to the destination string.
+*/
+
+char *StrMaxCpy( char *dst, const char *src, size_t maxLen )
+{
+ if ( maxLen < 1 )
+ {
+ /*
+ * There's no room in the buffer?
+ */
+
+ return "";
+ }
+
+ if ( maxLen == 1 )
+ {
+ /*
+ * There's only room for the terminating null character
+ */
+
+ dst[ 0 ] = '\0';
+ return dst;
+ }
+
+ /*
+ * The Visual C++ version of strncpy writes to every single character
+ * of the destination buffer, so we use a length one character smaller
+ * and write in our own null (if required).
+ *
+ * This allows the caller to store a sentinel in the last byte of the
+ * buffer to detect overflows (if desired).
+ */
+
+ strncpy( dst, src, maxLen - 1 );
+ if (( strlen( src ) + 1 ) >= maxLen )
+ {
+ /*
+ * The string exactly fits, or probably overflows the buffer.
+ * Write in the terminating null character since strncpy doesn't in
+ * this particular case.
+ *
+ * We don't do this arbitrarily so that the caller can use a sentinel
+ * in the very end of the buffer to detect buffer overflows.
+ */
+
+ dst[ maxLen - 1 ] = '\0';
+ }
+
+ return dst;
+
+} /* StrMaxCpy */
+
+/***************************************************************************
+*
+* Usage
+*
+****************************************************************************/
+
+void Usage()
+{
+ fprintf( stderr, "Usage: sertest [option(s)]\n" );
+ fprintf( stderr, " Download a program via serial/i2c\n" );
+ fprintf( stderr, "\n" );
+ fprintf( stderr, " -b, --baud=baud Set the baudrate used\n" );
+ fprintf( stderr, " -d, --debug Turn on debug output\n" );
+ fprintf( stderr, " -h, --help Display this message\n" );
+ fprintf( stderr, " -p, --port=port Set the I/O port\n" );
+ fprintf( stderr, " -v, --verbose Turn on verbose messages\n" );
+
+} // Usage
+
+
--- /dev/null
+DESCRIPTION = "Robostix programs"
+PRIORITY = "optional"
+SECTION = "base"
+LICENSE = "GPL"
+RDEPENDS = "kernel (${KERNEL_VERSION})"
+DEPENDS = "virtual/kernel"
+
+PR = "r0"
+
+SRC_URI = "svn://svn.gumstix.com/gumstix-buildroot/branches/projects;module=robostix;rev=1588;proto=http \
+ file://makefile-rules.patch;patch=1 \
+ file://gummake.patch;patch=1 \
+ "
+
+S = "${WORKDIR}/robostix"
+
+inherit module-base
+
+EXTRA_OEMAKE = 'CROSS_COMPILE="${CROSS_COMPILE}" \
+ KERNELDIR="${KERNEL_SOURCE}" \
+ CC="${CC}" \
+ '
+
+PARALLEL_MAKE = ""
+
+do_configure () {
+ echo "Nothing to configure for robostix"
+}
+
+do_compile () {
+ unset CFLAGS CPPFLAGS CXXFLAGS LDFLAGS
+ cd ${S}
+ make
+ cd ${S}/gumstix
+ oe_runmake
+ cd ${S}/gumstix/i2c-io
+ oe_runmake
+ cd ${S}/gumstix/i2c-load
+ oe_runmake
+ cd ${S}/gumstix/i2c
+ oe_runmake
+}
+
+do_install () {
+ # install programs to bindir
+ install -m 0755 -d ${D}${bindir}
+ install -m 0755 ${S}/gumstix/i2c-io/i2c-io ${D}${bindir}
+ install -m 0755 ${S}/gumstix/i2c-load/i2c-load ${D}${bindir}
+ install -m 0755 ${S}/gumstix/i2c/i2c ${D}${bindir}
+ install -m 0755 ${S}/gumstix/robostix ${D}${bindir}
+ install -m 0755 ${S}/gumstix/sertest ${D}${bindir}
+
+ # kernel module installs with other modules, but use
+ # cp instead of install so its not stripped
+ install -m 0755 -d ${D}${base_libdir}/modules/${KERNEL_VERSION}/extra/
+ cp ${S}/gumstix/robostix_drv.ko ${D}${base_libdir}/modules/${KERNEL_VERSION}/extra/
+
+ # avr hex programs install to /root
+ install -m 0755 -d ${D}/root
+ install -m 0755 ${S}/ArgTest/ArgTest.hex ${D}/root
+ install -m 0755 ${S}/Flash-LED/Flash-LED.hex ${D}/root
+ install -m 0755 ${S}/i2c-BootLoader/i2c-Boot-m128-16MHz.hex ${D}/root
+ install -m 0755 ${S}/i2c-BootLoader/i2c-Boot-m128-16MHz-eep.hex ${D}/root
+ install -m 0755 ${S}/i2c-io/i2c-io.hex ${D}/root
+ install -m 0755 ${S}/i2c-test/i2c-test.hex ${D}/root
+ install -m 0755 ${S}/int6/int6.hex ${D}/root
+ install -m 0755 ${S}/LCD-Test/LCD-Test.hex ${D}/root
+ install -m 0755 ${S}/QD-Test/QD-Test.hex ${D}/root
+ install -m 0755 ${S}/RCInput/RC-Test.hex ${D}/root
+ install -m 0755 ${S}/Simple-Flasher/Simple-Flasher.hex ${D}/root
+ install -m 0755 ${S}/Simple-Servo/Simple-Servo.hex ${D}/root
+ install -m 0755 ${S}/Simple-Servo-2/Simple-Servo-2.hex ${D}/root
+ install -m 0755 ${S}/Tachometer/Tachometer.hex ${D}/root
+}
+
+PACKAGES = "${PN}-i2c-io"
+FILES_${PN}-i2c-io = "${bindir}/i2c-io"
+
+PACKAGES += "${PN}-i2c-load"
+FILES_${PN}-i2c-load = "${bindir}/i2c-load"
+
+PACKAGES += "${PN}-i2c"
+FILES_${PN}-i2c = "${bindir}/i2c"
+
+PACKAGES += "${PN}-sertest"
+FILES_${PN}-sertest = "${bindir}/sertest"
+
+PACKAGES += "${PN}-usermode"
+FILES_${PN}-usermode = "${bindir}/robostix"
+
+PACKAGES += "${PN}-kernel-module"
+FILES_${PN}-kernel-module = "${base_libdir}/modules/${KERNEL_VERSION}/extra/robostix_drv.ko"
+
+PACKAGES += "${PN}-avr-ArgTest"
+FILES_${PN}-avr-ArgTest = "/root/ArgTest.hex"
+
+PACKAGES += "${PN}-avr-Flash-LED"
+FILES_${PN}-avr-Flash-LED = "/root/Flash-LED.hex"
+
+PACKAGES += "${PN}-avr-i2c-BootLoader"
+FILES_${PN}-avr-i2c-BootLoader = "/root/i2c-Boot-m128-16MHz.hex"
+
+PACKAGES += "${PN}-avr-i2c-BootLoader-eep"
+FILES_${PN}-avr-i2c-BootLoader-eep = "/root/i2c-Boot-m128-16MHz-eep.hex"
+
+PACKAGES += "${PN}-avr-i2c-io"
+FILES_${PN}-avr-i2c-io = "/root/i2c-io.hex"
+
+PACKAGES += "${PN}-avr-i2c-test"
+FILES_${PN}-avr-i2c-test = "/root/i2c-test.hex"
+
+PACKAGES += "${PN}-avr-int6"
+FILES_${PN}-avr-int6 = "/root/int6.hex"
+
+PACKAGES += "${PN}-avr-LCD-Test"
+FILES_${PN}-avr-LCD-Test = "/root/LCD-Test.hex"
+
+PACKAGES += "${PN}-avr-QD-Test"
+FILES_${PN}-avr-QD-Test = "/root/QD-Test.hex"
+
+PACKAGES += "${PN}-avr-RC-Test"
+FILES_${PN}-avr-RC-Test = "/root/RC-Test.hex"
+
+PACKAGES += "${PN}-avr-Simple-Flasher"
+FILES_${PN}-avr-Simple-Flasher = "/root/Simple-Flasher.hex"
+
+PACKAGES += "${PN}-avr-Simple-Servo"
+FILES_${PN}-avr-Simple-Servo = "/root/Simple-Servo.hex"
+
+PACKAGES += "${PN}-avr-Simple-Servo-2"
+FILES_${PN}-avr-Simple-Servo-2 = "/root/Simple-Servo-2.hex"
+
+PACKAGES += "${PN}-avr-Tachometer"
+FILES_${PN}-avr-Tachometer = "/root/Tachometer.hex"
+
--- /dev/null
+--- robostix/gumstix/Makefile.orig 2008-03-08 11:37:50.000000000 -0700
++++ robostix/gumstix/Makefile 2008-03-08 11:36:55.000000000 -0700
+@@ -32,10 +32,10 @@
+
+ PWD := $(shell pwd)
+
+-GUMSTIX_BUILDROOT = $(PWD)/../../gumstix-buildroot
+-BUILD_ARM = $(GUMSTIX_BUILDROOT)/build_arm_nofpu
+-KERNELDIR ?= $(wildcard $(BUILD_ARM)/linux-*)
+-CROSS_COMPILE = $(BUILD_ARM)/staging_dir/bin/arm-linux-
++#GUMSTIX_BUILDROOT = $(PWD)/../../gumstix-buildroot
++#BUILD_ARM = $(GUMSTIX_BUILDROOT)/build_arm_nofpu
++#KERNELDIR ?= $(wildcard $(BUILD_ARM)/linux-*)
++#CROSS_COMPILE = $(BUILD_ARM)/staging_dir/bin/arm-linux-
+
+ default: svn-version.h user-app kernel-module
+
+@@ -47,7 +47,7 @@
+ user-app: robostix sertest
+
+ TARGET_ARCH=-Os -march=armv5te -mtune=xscale -Wa,-mcpu=xscale
+-CC = $(CROSS_COMPILE)gcc
++#CC = $(CROSS_COMPILE)gcc
+
+ robostix: robostix.c
+
--- /dev/null
+--- robostix/Rules.mk.orig 2008-03-08 10:36:37.000000000 -0700
++++ robostix/Rules.mk 2008-03-08 10:37:14.000000000 -0700
+@@ -24,21 +24,7 @@
+ vpath %.c ../Common ../Shared\r
+ vpath %.S ../Common ../Shared\r
+ \r
+-CFLAGS += -Os \\r
+- -Wall \\r
+- -Werror \\r
+- -Wimplicit \\r
+- -Wpointer-arith \\r
+- -Wswitch \\r
+- -Wredundant-decls \\r
+- -Wreturn-type \\r
+- -Wshadow \\r
+- -Wunused \\r
+- -Wcast-qual \\r
+- -Wnested-externs \\r
+- -Wmissing-prototypes \\r
+- -Wstrict-prototypes \\r
+- -Wmissing-declarations\r
++CFLAGS += -Os\r
+ \r
+ CPPFLAGS += $(AVR_MCU_FLAGS) -I . -I ../Common -I ../Shared\r
+ LDFLAGS += $(AVR_MCU_FLAGS) -Wl,-Map,$(basename $@).map\r
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