nuttx/drivers/timers/capture.c

/****************************************************************************
 * drivers/timers/capture.c
 *
 * SPDX-License-Identifier: Apache-2.0
 *
 * Licensed to the Apache Software Foundation (ASF) under one or more
 * contributor license agreements.  See the NOTICE file distributed with
 * this work for additional information regarding copyright ownership.  The
 * ASF licenses this file to you under the Apache License, Version 2.0 (the
 * "License"); you may not use this file except in compliance with the
 * License.  You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
 * License for the specific language governing permissions and limitations
 * under the License.
 *
 ****************************************************************************/

/****************************************************************************
 * Included Files
 ****************************************************************************/

#include <nuttx/config.h>

#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <fcntl.h>
#include <assert.h>
#include <errno.h>
#include <debug.h>

#include <nuttx/kmalloc.h>
#include <nuttx/fs/fs.h>
#include <nuttx/arch.h>
#include <nuttx/mutex.h>
#include <nuttx/timers/capture.h>

#include <arch/irq.h>

#ifdef CONFIG_CAPTURE

/****************************************************************************
 * Pre-processor Definitions
 ****************************************************************************/

/* Debug ********************************************************************/

/****************************************************************************
 * Private Types
 ****************************************************************************/

#ifdef CONFIG_CAPTURE_NOTIFY
struct cap_signal_s
{
  pid_t                    pid;    /* The pid of the registering task */
  struct cap_notify_s      notify; /* The notification callback info */
#ifdef CONFIG_SIG_EVTHREAD
  struct sigwork_s         work;   /* The signal work structure */
#endif
};
#endif

/* This structure describes the state of the upper half driver */

struct cap_upperhalf_s
{
  uint8_t                      crefs; /* The number of times the device has been opened */
  uint8_t                      nchan; /* The number of channels, only invalid for multi channels */
  mutex_t                      lock;  /* Supports mutual exclusion */
  FAR struct cap_lowerhalf_s **lower; /* lower-half state */
#ifdef CONFIG_CAPTURE_NOTIFY
  /* The array of signal structures, the length of the array is nchan,
   * save signal info for each channel.
   */

  struct cap_signal_s          signals[1];
#endif
};

/****************************************************************************
 * Private Function Prototypes
 ****************************************************************************/

static int     cap_open(FAR struct file *filep);
static int     cap_close(FAR struct file *filep);
static ssize_t cap_read(FAR struct file *filep, FAR char *buffer,
                       size_t buflen);
static ssize_t cap_write(FAR struct file *filep, FAR const char *buffer,
                        size_t buflen);
static int cap_ioctl(FAR struct file *filep, int cmd, unsigned long arg);

/****************************************************************************
 * Private Data
 ****************************************************************************/

static const struct file_operations g_capops =
{
  cap_open,  /* open */
  cap_close, /* close */
  cap_read,  /* read */
  cap_write, /* write */
  NULL,      /* seek */
  cap_ioctl, /* ioctl */
};

/****************************************************************************
 * Private Functions
 ****************************************************************************/

/****************************************************************************
 * Name: cap_notify_cb
 *
 * Description:
 *   Capture edge interrupt notification callback
 *
 ****************************************************************************/

#ifdef CONFIG_CAPTURE_NOTIFY
static void cap_notify_cb(FAR struct cap_lowerhalf_s *lower, FAR void *priv)
{
  FAR struct cap_upperhalf_s *upper = priv;
  uint8_t i;

  DEBUGASSERT(upper != NULL);

  for (i = 0; i < upper->nchan; i++)
    {
      if (lower == upper->lower[i])
        {
          FAR struct cap_signal_s *signal = &upper->signals[i];

#  ifdef CONFIG_SIG_EVTHREAD
          nxsig_notification(signal->pid, &signal->notify.event,
                             SI_QUEUE, &signal->work);
#  else
          nxsig_notification(signal->pid, &signal->notify.event,
                             SI_QUEUE, NULL);
#  endif
          break;
        }
    }
}
#endif

/****************************************************************************
 * Name: cap_open
 *
 * Description:
 *   This function is called whenever the PWM Capture device is opened.
 *
 ****************************************************************************/

static int cap_open(FAR struct file *filep)
{
  FAR struct inode           *inode = filep->f_inode;
  FAR struct cap_upperhalf_s *upper = inode->i_private;
  uint8_t                     tmp;
  int                         ret;

  /* Get exclusive access to the device structures */

  ret = nxmutex_lock(&upper->lock);
  if (ret < 0)
    {
      goto errout;
    }

  /* Increment the count of references to the device.  If this is the first
   * time that the driver has been opened for this device, then initialize
   * the device.
   */

  tmp = upper->crefs + 1;
  if (tmp == 0)
    {
      /* More than 255 opens; uint8_t overflows to zero */

      ret = -EMFILE;
      goto errout_with_lock;
    }

  /* Check if this is the first time that the driver has been opened. */

  if (tmp == 1)
    {
      FAR struct cap_lowerhalf_s **lower = upper->lower;
      uint8_t i;

      for (i = 0; i < upper->nchan; i++)
        {
          ret = lower[i]->ops->start(lower[i]);
          if (ret < 0)
            {
              while (i-- > 0)
                {
                  lower[i]->ops->stop(lower[i]);
                }

              goto errout_with_lock;
            }
        }
    }

  /* Save the new open count on success */

  upper->crefs = tmp;
  ret = OK;

errout_with_lock:
  nxmutex_unlock(&upper->lock);

errout:
  return ret;
}

/****************************************************************************
 * Name: cap_close
 *
 * Description:
 *   This function is called when the PWM Capture device is closed.
 *
 ****************************************************************************/

static int cap_close(FAR struct file *filep)
{
  FAR struct inode           *inode = filep->f_inode;
  FAR struct cap_upperhalf_s *upper = inode->i_private;
  int                         ret;

  /* Get exclusive access to the device structures */

  ret = nxmutex_lock(&upper->lock);
  if (ret < 0)
    {
      goto errout;
    }

  /* Decrement the references to the driver.  If the reference count will
   * decrement to 0, then uninitialize the driver.
   */

  if (upper->crefs > 1)
    {
      upper->crefs--;
    }
  else
    {
      FAR struct cap_lowerhalf_s **lower = upper->lower;
      uint8_t i;

      /* There are no more references to the port */

      upper->crefs = 0;

      for (i = 0; i < upper->nchan; i++)
        {
          /* Disable the PWM Capture device */

          lower[i]->ops->stop(lower[i]);
        }
    }

  nxmutex_unlock(&upper->lock);
  ret = OK;

errout:
  return ret;
}

/****************************************************************************
 * Name: cap_read
 *
 * Description:
 *   A dummy read method.  This is provided only to satisfy the VFS layer.
 *
 ****************************************************************************/

static ssize_t cap_read(FAR struct file *filep,
                       FAR char *buffer,
                       size_t buflen)
{
  /* Return zero -- usually meaning end-of-file */

  return 0;
}

/****************************************************************************
 * Name: cap_write
 *
 * Description:
 *   A dummy write method.  This is provided only to satisfy the VFS layer.
 *
 ****************************************************************************/

static ssize_t cap_write(FAR struct file *filep,
                        FAR const char *buffer,
                        size_t buflen)
{
  /* Return a failure */

  return -EPERM;
}

/****************************************************************************
 * Name: cap_ioctl
 *
 * Description:
 *   The standard ioctl method.
 *   This is where ALL of the PWM Capture work is done.
 *
 ****************************************************************************/

static int cap_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
{
  FAR struct inode           *inode = filep->f_inode;
  FAR struct cap_upperhalf_s *upper;
  FAR struct cap_lowerhalf_s **lower;
  int                        ret;
  uint8_t                    i;

  cpinfo("cmd: %d arg: %ld\n", cmd, arg);
  upper = inode->i_private;
  DEBUGASSERT(upper != NULL);
  lower = upper->lower;
  DEBUGASSERT(lower != NULL);

  /* Get exclusive access to the device structures */

  ret = nxmutex_lock(&upper->lock);
  if (ret < 0)
    {
      return ret;
    }

  /* Handle built-in ioctl commands */

  switch (cmd)
    {
      /* CAPIOC_DUTYCYCLE - Get the pwm duty from the capture.
       * Argument: int8_t pointer to the location to return the duty.
       */

      case CAPIOC_DUTYCYCLE:
        {
          FAR uint8_t *ptr = (FAR uint8_t *)((uintptr_t)arg);
          DEBUGASSERT(ptr);
          for (i = 0; i < upper->nchan; i++)
            {
              DEBUGASSERT(lower[i]->ops->getduty != NULL);
              ret = lower[i]->ops->getduty(lower[i], &ptr[i]);
              if (ret < 0)
                {
                  break;
                }
            }
        }
        break;

      /* CAPIOC_FREQUENCE - Get the pulse frequency from the capture.
       * Argument: int32_t pointer to the location to return the frequency.
       */

      case CAPIOC_FREQUENCE:
        {
          FAR uint32_t *ptr = (FAR uint32_t *)((uintptr_t)arg);
          DEBUGASSERT(ptr);
          for (i = 0; i < upper->nchan; i++)
            {
              DEBUGASSERT(lower[i]->ops->getfreq != NULL);
              ret = lower[i]->ops->getfreq(lower[i], &ptr[i]);
              if (ret < 0)
                {
                  break;
                }
            }
        }
        break;

      /* CAPIOC_EDGES - Get the pwm edges from the capture.
       * Argument: int32_t pointer to the location to return the edges.
       */

      case CAPIOC_EDGES:
        {
          FAR uint32_t *ptr = (FAR uint32_t *)((uintptr_t)arg);
          DEBUGASSERT(ptr);
          for (i = 0; i < upper->nchan; i++)
            {
              DEBUGASSERT(lower[i]->ops->getedges != NULL);
              ret = lower[i]->ops->getedges(lower[i], &ptr[i]);
              if (ret < 0)
                {
                  break;
                }
            }
        }
        break;

      /* CAPIOC_ALL - Get the pwm duty, pulse frequency, pwm edges, from
       * the capture.
       * Argument: A reference to struct cap_all_s.
       */

      case CAPIOC_ALL:
        {
          FAR struct cap_all_s *ptr =
                     (FAR struct cap_all_s *)((uintptr_t)arg);
          DEBUGASSERT(ptr);
          for (i = 0 ; i < upper->nchan ; i++)
            {
              ret = lower[i]->ops->getduty(lower[i], &ptr[i].duty);
              if (ret < 0)
                {
                  break;
                }

              ret = lower[i]->ops->getfreq(lower[i], &ptr[i].freq);
              if (ret < 0)
                {
                  break;
                }

              ret = lower[i]->ops->getedges(lower[i], &ptr[i].edges);
              if (ret < 0)
                {
                  break;
                }
            }
        }
        break;

      /* CAPIOC_REGISTER - Register to receive a signal whenever there is
       * an interrupt received on an input capture pin. This feature,
       * of course, depends upon interrupt capture support from the platform.
       * Argument: The event of signal to be generated when the interrupt
       * occurs.
       *
       * the argument is a pointer to a struct cap_notify_s, that contains
       * the channel number, edge type and signal event info.
       */

#ifdef CONFIG_CAPTURE_NOTIFY
      case CAPIOC_REGISTER:
        {
          FAR struct cap_signal_s *tmp;
          FAR struct cap_notify_s *new;
          pid_t pid;

          new = (FAR struct cap_notify_s *)(uintptr_t)arg;
          if (!new || (new->chan >= upper->nchan && new->chan < 0))
            {
              ret = -EINVAL;
              break;
            }

          pid = nxsched_getpid();
          tmp = &upper->signals[new->chan];
          if (tmp->pid != 0 && tmp->pid != pid)
            {
              ret = -EBUSY;
              break;
            }

          tmp->pid = pid;
          memcpy(&tmp->notify, new, sizeof(*new));
          DEBUGASSERT(lower[new->chan]->ops->bind != NULL);
          ret = lower[new->chan]->ops->bind(lower[new->chan], new->type,
                                            cap_notify_cb, upper);
        }
        break;

      /* CAPIOC_UNREGISTER - Stop receiving signals for capture interrupts.
       * Argument: The channel number
       */

      case CAPIOC_UNREGISTER:
        {
#  ifdef CONFIG_SIG_EVTHREAD
          FAR struct sigwork_s *work;
#  endif
          int chan = (int)arg;

          upper->signals[chan].pid = 0;
#  ifdef CONFIG_SIG_EVTHREAD
          work = &upper->signals[chan].work;
          nxsig_cancel_notification(work);
#  endif

          DEBUGASSERT(lower[chan]->ops->unbind != NULL);
          ret = lower[chan]->ops->unbind(lower[chan]);
        }
        break;
#endif

      /* Any unrecognized IOCTL commands might be platform-specific ioctl
       * commands
       */

      default:
        {
          cperr("Forwarding unrecognized cmd: %d arg: %ld\n", cmd, arg);

          /* Unrecognized cmd will be forwarded to lower half driver for
           * specific use cases (e.g Pulse Counter (PCNT))
           */

          FAR unsigned long int *ptr =
                     (FAR unsigned long int *)arg;
          for (i = 0; i < upper->nchan; i++)
            {
              ret = lower[i]->ops->ioctl(lower[i], cmd,
                                         (unsigned long)&ptr[i]);
              if (ret < 0)
                {
                  break;
                }
            }
        }
        break;
    }

  nxmutex_unlock(&upper->lock);
  return ret;
}

/****************************************************************************
 * Public Functions
 ****************************************************************************/

/****************************************************************************
 * Name: cap_register
 *
 * Description:
 *   Register the PWM Capture lower half device as 'devpath'
 *
 * Input Parameters:
 *   devpath - The full path to the driver to register. E.g., "/dev/cap0"
 *   lower - An instance of the lower half interface
 *
 * Returned Value:
 *   Zero (OK) on success; a negated errno value on failure.  The following
 *   possible error values may be returned (most are returned by
 *   register_driver()):
 *
 *   EINVAL - 'path' is invalid for this operation
 *   EEXIST - An inode already exists at 'path'
 *   ENOMEM - Failed to allocate in-memory resources for the operation
 *
 ****************************************************************************/

int cap_register(FAR const char *devpath, FAR struct cap_lowerhalf_s *lower)
{
  FAR struct cap_upperhalf_s *upper;

  /* Allocate the upper-half data structure */

  upper = (FAR struct cap_upperhalf_s *)
           kmm_zalloc(sizeof(struct cap_upperhalf_s) +
                      sizeof(FAR struct cap_lowerhalf_s *));
  if (!upper)
    {
      return -ENOMEM;
    }

  /* Initialize the PWM Capture device structure
   * (it was already zeroed by kmm_zalloc())
   */

  nxmutex_init(&upper->lock);
  upper->lower = (FAR struct cap_lowerhalf_s **)(upper + 1);
  upper->lower[0] = lower;
  upper->nchan = 1;

  /* Register the PWM Capture device */

  return register_driver(devpath, &g_capops, 0666, upper);
}

int cap_register_multiple(FAR const char *devpath,
                          FAR struct cap_lowerhalf_s **lower,
                          int n)
{
  char fullpath[32];
  int ret;

  if (!devpath || !lower || n < 1)
    {
      return -EINVAL;
    }

  for (int i = 0; i < n; i++)
    {
      int written = snprintf(fullpath, sizeof(fullpath), "%s%d", devpath, i);

      if (written < 0)
        {
          return -EIO;
        }

      if ((size_t)written >= sizeof(fullpath))
        {
          return -ENAMETOOLONG;
        }

      ret = cap_register(fullpath, lower[i]);
      if (ret < 0)
        {
          /* TODO: unwind */

          return ret;
        }
    }

  return OK;
}

#endif /* CONFIG_CAPTURE */