usr_servo code generation

2018-11-02 16:56:25 +01:00
parent 8807ccbd85
commit d7e0cf7764
12 changed files with 863 additions and 67 deletions
--- a/python/usr_code/usralgomain.c
+++ b/python/usr_code/usralgomain.c
@@ -0,0 +1,114 @@
+//---------------------------------------------------------------------------
+//  Project PowerPMAC Firmware
+//  Delta Tau Data Systems, Inc.
+//  Copyright  2007. All Rights Reserved.
+//
+//  SUBSYSTEM:			User Algo Driver
+//  FILE:         		usralgo.c
+//  AUTH OR:			Henry Bausley
+//
+//  OVERVIEW
+//  ~~~~~~~~
+//  This file is a device driver that exports functions that can be used by other
+//  kernel mode modules.  ie. RtPmac.rtl can call functions that are part of this
+//  driver for use as user written servo, phase, plc rti, plc rt thread
+//  No one should ever have to touch this module! Custom routines are added
+//  as additional modules as whatever name the user wants.
+//
+//  NOTES
+//  ~~~~~
+//  - The driver must be loaded
+//    bash-3.0# insmod /opt/ppmac/usralgo/usralgo.ko
+//
+//  - A node can be created on the file system the thing you fopen
+//   but it is not required.  Could be used by gpos if ioctl's were added
+//   bash-3.0# mknod -m 666 /dev/usralgo c 240 0
+//
+//--------------------------------------------------------------------------------
+#include <linux/module.h>
+#include <linux/init.h>
+#include <linux/version.h>
+#include <linux/errno.h>
+#include <linux/fs.h>
+#include <linux/mm.h>
+#include <linux/interrupt.h>
+#include <linux/sched.h>
+#include <asm/uaccess.h>
+#include <asm/io.h>
+#include <linux/vmalloc.h>
+#include <linux/mman.h>
+#include <linux/slab.h>
+#include <RtGpShm.h>
+
+
+//#define KDBEUG  1
+
+#ifdef KDBEUG
+  #define PRINTK(arg)        printk(arg)
+#else
+  #define PRINTK(arg)
+#endif
+
+#define USRALGO_MAJOR 240
+#define USRALGO_NAME "usralgo"
+
+struct SHM        *pshm;  // Pointer to shared memory
+volatile unsigned *piom;  // Pointer to I/O memory
+void              *pushm; // Pointer to user memory
+
+
+// define which file operations are supported
+struct file_operations usralgo_fops =
+{
+  .owner	=	THIS_MODULE,
+  .llseek	=	NULL,
+  .read		=	NULL,
+  .write	=	NULL,
+//  .readdir	=	NULL,
+  .poll		=	NULL,
+#if LINUX_VERSION_CODE < KERNEL_VERSION(3,0,0)
+  .ioctl = NULL,
+#else
+  .unlocked_ioctl = NULL,
+#endif
+  .mmap	=	NULL,
+  .open		=	NULL,
+  .flush	=	NULL,
+  .release	=	NULL,
+  .fsync	=	NULL,
+  .fasync	=	NULL,
+  .lock		=	NULL,
+};
+
+//-----------------------------------------------------------------------
+// initialize module -- this what is called when you do insmod ./usralgo.ko
+//-----------------------------------------------------------------------
+static int __init usralgo_init_module (void)
+{
+  int i;
+
+  PRINTK(KERN_INFO "initializing module usralgo\n");
+  pshm  = GetSharedMemPtr();
+  pushm = GetUserBufferPtr();
+  piom  = GetIOMemPtr();
+
+  i = register_chrdev (USRALGO_MAJOR, USRALGO_NAME, &usralgo_fops);
+  if (i != 0) return - EIO;
+
+  return 0;
+}
+
+//-----------------------------------------------------------------------
+// close and cleanup module
+//-------------------------
+static void __exit usralgo_cleanup_module (void)
+{
+  PRINTK("cleaning up module usralgo\n");
+  unregister_chrdev (USRALGO_MAJOR, USRALGO_NAME);
+}
+
+module_init(usralgo_init_module);
+module_exit(usralgo_cleanup_module);
+MODULE_AUTHOR("www.deltatau.com");
+MODULE_LICENSE("GPL");
+MODULE_DESCRIPTION("Linux Device Driver for usralgo");