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右と左でそれぞれ用意されている関数を一つにまとめる（リファクタリング） (#93)
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@YusukeKato
YusukeKato authored Nov 26, 2024
1 parent 5bdf8e3 commit 9863ba3
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Showing 4 changed files with 81 additions and 138 deletions.
3 changes: 3 additions & 0 deletions src/drivers/rtmouse.h
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Original file line number Diff line number Diff line change
Expand Up @@ -54,6 +54,9 @@
// Raspberry Pi 4 B : 4
#define RASPBERRYPI 2

#define DEV_RIGHT 0
#define DEV_LEFT 1

/* --- Device ID --- */
#define ID_DEV_LED 0
#define ID_DEV_SWITCH 1
Expand Down
95 changes: 40 additions & 55 deletions src/drivers/rtmouse_dev.c
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Original file line number Diff line number Diff line change
Expand Up @@ -229,10 +229,10 @@ static int getPWMCount(int freq)
}

/*
* left motor function
* motor function
* called by parseMotorCmd() and rawmotor_l_write()
*/
static void set_motor_l_freq(int freq)
static void set_motor_freq(int freq, const int dev_side)
{
int dat;

Expand All @@ -244,65 +244,50 @@ static void set_motor_l_freq(int freq)
}

if (freq == 0) {
rpi_gpio_function_set(MOTCLK_L_BASE, RPI_GPF_OUTPUT);
if (dev_side == DEV_LEFT) {
rpi_gpio_function_set(MOTCLK_L_BASE, RPI_GPF_OUTPUT);
} else if (dev_side == DEV_RIGHT) {
rpi_gpio_function_set(MOTCLK_R_BASE, RPI_GPF_OUTPUT);
}
return;
} else {
rpi_gpio_function_set(MOTCLK_L_BASE, RPI_GPF_ALT0);
if (dev_side == DEV_LEFT) {
rpi_gpio_function_set(MOTCLK_L_BASE, RPI_GPF_ALT0);
} else if (dev_side == DEV_RIGHT) {
rpi_gpio_function_set(MOTCLK_R_BASE, RPI_GPF_ALT0);
}
}

if (freq > 0) {
motor_l_freq_is_positive = 1;
rpi_gpio_clear32(RPI_GPIO_P2MASK, 1 << MOTDIR_L_BASE);
if (dev_side == DEV_LEFT) {
motor_l_freq_is_positive = 1;
rpi_gpio_clear32(RPI_GPIO_P2MASK, 1 << MOTDIR_L_BASE);
} else if (dev_side == DEV_RIGHT) {
motor_r_freq_is_positive = 1;
rpi_gpio_clear32(RPI_GPIO_P2MASK, 1 << MOTDIR_R_BASE);
}
} else {
motor_l_freq_is_positive = 0;
rpi_gpio_set32(RPI_GPIO_P2MASK, 1 << MOTDIR_L_BASE);
freq = -freq;
if (dev_side == DEV_LEFT) {
motor_l_freq_is_positive = 0;
rpi_gpio_set32(RPI_GPIO_P2MASK, 1 << MOTDIR_L_BASE);
freq = -freq;
} else if (dev_side == DEV_RIGHT) {
motor_r_freq_is_positive = 0;
rpi_gpio_set32(RPI_GPIO_P2MASK, 1 << MOTDIR_R_BASE);
freq = -freq;
}
}

dat = getPWMCount(freq);

rpi_pwm_write32(RPI_PWM_RNG1, dat);
rpi_pwm_write32(RPI_PWM_DAT1, dat >> 1);

return;
}

/*
* right motor function
* called by parseMotorCmd() and rawmotor_r_write()
*/
static void set_motor_r_freq(int freq)
{
int dat;

rpi_gpio_function_set(BUZZER_BASE, RPI_GPF_OUTPUT);

// Reset uncontrollable frequency to zero.
if (abs(freq) < MOTOR_UNCONTROLLABLE_FREQ) {
freq = 0;
}

if (freq == 0) {
rpi_gpio_function_set(MOTCLK_R_BASE, RPI_GPF_OUTPUT);
return;
} else {
rpi_gpio_function_set(MOTCLK_R_BASE, RPI_GPF_ALT0);
}

if (freq > 0) {
motor_r_freq_is_positive = 1;
rpi_gpio_set32(RPI_GPIO_P2MASK, 1 << MOTDIR_R_BASE);
} else {
motor_r_freq_is_positive = 0;
rpi_gpio_clear32(RPI_GPIO_P2MASK, 1 << MOTDIR_R_BASE);
freq = -freq;
if (dev_side == DEV_LEFT) {
rpi_pwm_write32(RPI_PWM_RNG1, dat);
rpi_pwm_write32(RPI_PWM_DAT1, dat >> 1);
} else if (dev_side == DEV_RIGHT) {
rpi_pwm_write32(RPI_PWM_RNG2, dat);
rpi_pwm_write32(RPI_PWM_DAT2, dat >> 1);
}

dat = getPWMCount(freq);

rpi_pwm_write32(RPI_PWM_RNG2, dat);
rpi_pwm_write32(RPI_PWM_DAT2, dat >> 1);

return;
}

Expand All @@ -326,13 +311,13 @@ static int parseMotorCmd(const char __user *buf, size_t count, int *ret)

mutex_lock(&lock);

set_motor_l_freq(l_motor_val);
set_motor_r_freq(r_motor_val);
set_motor_freq(l_motor_val, DEV_LEFT);
set_motor_freq(r_motor_val, DEV_RIGHT);

msleep_interruptible(time_val);

set_motor_l_freq(0);
set_motor_r_freq(0);
set_motor_freq(0, DEV_LEFT);
set_motor_freq(0, DEV_RIGHT);

mutex_unlock(&lock);

Expand Down Expand Up @@ -751,7 +736,7 @@ static ssize_t rawmotor_l_write(struct file *filep, const char __user *buf,
DRIVER_NAME, __func__);
return ret;
}
set_motor_l_freq(freq);
set_motor_freq(freq, DEV_LEFT);

return count;
}
Expand All @@ -772,7 +757,7 @@ static ssize_t rawmotor_r_write(struct file *filep, const char __user *buf,
return ret;
}

set_motor_r_freq(freq);
set_motor_freq(freq, DEV_RIGHT);

return count;
}
Expand Down
117 changes: 36 additions & 81 deletions src/drivers/rtmouse_i2c.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -68,86 +68,23 @@ static struct i2c_driver i2c_counter_driver = {
/* -- Device Addition -- */
MODULE_DEVICE_TABLE(i2c, i2c_counter_id);

static int rtcntr_i2c_create_cdev(struct rtcnt_device_info *dev_info)
{
int minor;
int alloc_ret = 0;
int cdev_err = 0;
dev_t dev;

/* 空いているメジャー番号を確保する */
alloc_ret = alloc_chrdev_region(&dev, DEV_MINOR, NUM_DEV[ID_DEV_CNT],
DEVNAME_CNTR);
if (alloc_ret != 0) {
printk(KERN_ERR "alloc_chrdev_region = %d\n", alloc_ret);
return -1;
}

/* 取得したdev( = メジャー番号 + マイナー番号)
* からメジャー番号を取得して保持しておく */
dev_info->device_major = MAJOR(dev);
dev = MKDEV(dev_info->device_major, DEV_MINOR);

/* cdev構造体の初期化とシステムコールハンドラテーブルの登録 */
cdev_init(&dev_info->cdev, &dev_fops[ID_DEV_CNT]);
dev_info->cdev.owner = THIS_MODULE;

/* このデバイスドライバ(cdev)をカーネルに登録する */
cdev_err = cdev_add(&dev_info->cdev, dev, NUM_DEV[ID_DEV_CNT]);
if (cdev_err != 0) {
printk(KERN_ERR "cdev_add = %d\n", alloc_ret);
unregister_chrdev_region(dev, NUM_DEV[ID_DEV_CNT]);
return -1;
}

/* このデバイスのクラス登録をする(/sys/class/mydevice/ を作る) */
#if LINUX_VERSION_CODE < KERNEL_VERSION(6, 4, 0)
dev_info->device_class = class_create(THIS_MODULE, DEVNAME_CNTR);
#else
dev_info->device_class = class_create(DEVNAME_CNTR);
#endif

if (IS_ERR(dev_info->device_class)) {
printk(KERN_ERR "class_create\n");
cdev_del(&dev_info->cdev);
unregister_chrdev_region(dev, NUM_DEV[ID_DEV_CNT]);
return -1;
}

for (minor = DEV_MINOR; minor < DEV_MINOR + NUM_DEV[ID_DEV_CNT];
minor++) {

struct device *dev_ret;
dev_ret = device_create(dev_info->device_class, NULL,
MKDEV(dev_info->device_major, minor),
NULL, "rtcounter_r%d", minor);

/* デバイスファイル作成の可否を判定 */
if (IS_ERR(dev_ret)) {
/* デバイスファイルの作成に失敗した */
printk(KERN_ERR "device_create failed minor = %d\n",
minor);
/* リソースリークを避けるために登録された状態cdevを削除する
*/
cdev_del(&(cdev_array[cdev_index]));
return PTR_ERR(dev_ret);
}
}

return 0;
}

// called by rtcnt_i2c_probe()
static int rtcntl_i2c_create_cdev(struct rtcnt_device_info *dev_info)
static int rtcnt_i2c_create_cdev(struct rtcnt_device_info *dev_info,
const int dev_side)
{
int minor;
int alloc_ret = 0;
int cdev_err = 0;
dev_t dev;

/* 空いているメジャー番号を確保する */
alloc_ret = alloc_chrdev_region(&dev, DEV_MINOR, NUM_DEV[ID_DEV_CNT],
DEVNAME_CNTL);
if (dev_side == DEV_LEFT) {
alloc_ret = alloc_chrdev_region(
&dev, DEV_MINOR, NUM_DEV[ID_DEV_CNT], DEVNAME_CNTL);
} else if (dev_side == DEV_RIGHT) {
alloc_ret = alloc_chrdev_region(
&dev, DEV_MINOR, NUM_DEV[ID_DEV_CNT], DEVNAME_CNTR);
}
if (alloc_ret != 0) {
printk(KERN_ERR "alloc_chrdev_region = %d\n", alloc_ret);
return -1;
Expand All @@ -172,9 +109,19 @@ static int rtcntl_i2c_create_cdev(struct rtcnt_device_info *dev_info)

/* このデバイスのクラス登録をする(/sys/class/mydevice/ を作る) */
#if LINUX_VERSION_CODE < KERNEL_VERSION(6, 4, 0)
dev_info->device_class = class_create(THIS_MODULE, DEVNAME_CNTL);
if (dev_side == DEV_LEFT) {
dev_info->device_class =
class_create(THIS_MODULE, DEVNAME_CNTL);
} else if (dev_side == DEV_RIGHT) {
dev_info->device_class =
class_create(THIS_MODULE, DEVNAME_CNTR);
}
#else
dev_info->device_class = class_create(DEVNAME_CNTL);
if (dev_side == DEV_LEFT) {
dev_info->device_class = class_create(DEVNAME_CNTL);
} else if (dev_side == DEV_RIGHT) {
dev_info->device_class = class_create(DEVNAME_CNTR);
}
#endif

if (IS_ERR(dev_info->device_class)) {
Expand All @@ -189,9 +136,17 @@ static int rtcntl_i2c_create_cdev(struct rtcnt_device_info *dev_info)
minor++) {

struct device *dev_ret;
dev_ret = device_create(dev_info->device_class, NULL,
MKDEV(dev_info->device_major, minor),
NULL, "rtcounter_l%d", minor);
if (dev_side == DEV_LEFT) {
dev_ret =
device_create(dev_info->device_class, NULL,
MKDEV(dev_info->device_major, minor),
NULL, "rtcounter_l%d", minor);
} else if (dev_side == DEV_RIGHT) {
dev_ret =
device_create(dev_info->device_class, NULL,
MKDEV(dev_info->device_major, minor),
NULL, "rtcounter_r%d", minor);
}

/* デバイスファイル作成の可否を判定 */
if (IS_ERR(dev_ret)) {
Expand Down Expand Up @@ -260,10 +215,10 @@ static int rtcnt_i2c_probe(struct i2c_client *client,

/* create character device */
if ((int)(id->driver_data) == 0) {
if (rtcntl_i2c_create_cdev(dev_info))
if (rtcnt_i2c_create_cdev(dev_info, DEV_LEFT))
return -ENOMEM;
} else if ((int)(id->driver_data) == 1) {
if (rtcntr_i2c_create_cdev(dev_info))
if (rtcnt_i2c_create_cdev(dev_info, DEV_RIGHT))
return -ENOMEM;
}

Expand Down Expand Up @@ -301,10 +256,10 @@ static int rtcnt_i2c_probe(struct i2c_client *client)

/* create character device */
if ((int)(id->driver_data) == 0) {
if (rtcntl_i2c_create_cdev(dev_info))
if (rtcnt_i2c_create_cdev(dev_info, DEV_LEFT))
return -ENOMEM;
} else if ((int)(id->driver_data) == 1) {
if (rtcntr_i2c_create_cdev(dev_info))
if (rtcnt_i2c_create_cdev(dev_info, DEV_RIGHT))
return -ENOMEM;
}

Expand Down
4 changes: 2 additions & 2 deletions src/drivers/rtmouse_main.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
* rtmouse_main.c
* Raspberry Pi Mouse device driver
*
* Version: 3.3.3
* Version: 3.3.4
*
* Copyright (C) 2015-2024 RT Corporation <[email protected]>
*
Expand All @@ -26,7 +26,7 @@

MODULE_AUTHOR("RT Corporation");
MODULE_LICENSE("GPL");
MODULE_VERSION("3.3.3");
MODULE_VERSION("3.3.4");
MODULE_DESCRIPTION("Raspberry Pi Mouse device driver");

/*
Expand Down

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