implemented infrared-modules

project/modules/.gitignore

@@ -0,0 +1,3 @@
+.tmp_versions
+*.ko.mod
+*.o.cmd

project/modules/Makefile

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+PWD                = $(realpath $(shell pwd))
+MODULE_NAME       ?= $(shell basename "$(PWD)")
+
+ifneq ($(KERNELRELEASE),)
+	# call from kernel build system
+	obj-m := $(MODULE_NAME).o
+else
+	ARCH            ?= aarch64
+	KERNEL_ARCH     ?= arm64
+	CROSS_COMPILE   ?= $(ARCH)-linux-gnu-
+	KVER            ?= $(shell ls "$(PWD)/../../kernel" | grep 'linux-' | sed 's/linux-//')
+	KERNELDIR       ?= $(PWD)/../../kernel/linux-$(KVER)
+	MODDESTDIR      ?= /lib/modules/$(KVER)/kernel/drivers/syso
+
+default:
+	ARCH=$(KERNEL_ARCH) CROSS_COMPILE=$(CROSS_COMPILE) MODULE_NAME=$(MODULE_NAME) $(MAKE) -C $(KERNELDIR) M=$(PWD) modules
+endif
+
+test: $(MODULE_NAME).ko.test
+
+$(MODULE_NAME).ko.test: $(MODULE_NAME).test.o
+	$(CROSS_COMPILE)$(CC) $(LDFLAGS) -pthread $^ -o $@
+
+%.o: %.c
+	$(CROSS_COMPILE)$(CC) $(CPPFLAGS) $(CFLAGS) -c $< -o $@
+
+clean:
+	rm -rf *.ko *.o *.mod.c *~ core .depend .*.cmd .tmp_versions *.symvers *.order
+
+depend .depend dep:
+	$(CROSS_COMPILE)$(CC) $(CFLAGS) -M *.c > .depend
+
+install:
+	install -p -m 644 $(MODULE_NAME).ko $(MODDESTDIR)
+	/sbin/depmod -a ${KVER}
+
+uninstall:
+	rm -f $(MODDESTDIR)/$(MODULE_NAME).ko
+	/sbin/depmod -a ${KVER}
+
+ifeq (.depend,$(wildcard .depend))
+	include .depend
+endif

project/modules/_common/infrared_sensor.def.h

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+static dev_t devno;
+static struct cdev chardev;
+static struct class *chardev_class;
+static struct device *chardev_device[NUMBER_OF_MINOR_DEVICE];

project/modules/_common/infrared_sensor.h

@@ -0,0 +1,82 @@
+MODULE_AUTHOR("Manuel Vögele, Siegfried Kienzle, Simon Wörner");
+MODULE_DESCRIPTION(DEVICE_NAME "driver");
+MODULE_LICENSE("GPL");
+
+static int __init ModInit(void)
+{
+
+    unsigned int i = 0;
+
+    printk(KERN_DEBUG DEVICE_NAME ": init");
+
+    if (alloc_chrdev_region(&devno, 0, NUMBER_OF_MINOR_DEVICE, DEVICE_NAME) < 0)
+        return -EIO;
+
+    cdev_init(&chardev, &fops);
+    chardev.owner = THIS_MODULE;
+    chardev.ops = &fops;
+
+    if (cdev_add(&chardev, devno, NUMBER_OF_MINOR_DEVICE)) {
+        pr_err(DEVICE_NAME ": cdev_add failed.");
+        goto free_device_number;
+    }
+
+    chardev_class = class_create(THIS_MODULE, DEVICE_NAME);
+
+    if (IS_ERR(chardev_class)) {
+        pr_err(DEVICE_NAME ": no udev support\n");
+        goto free_cdev;
+    }
+
+    for (i = 0; i < NUMBER_OF_MINOR_DEVICE; ++i)
+    {
+#if NUMBER_OF_MINOR_DEVICE == 1
+        chardev_device[i] = device_create(chardev_class, NULL, devno + i, NULL, DEVICE_NAME);
+#else
+        chardev_device[i] = device_create(chardev_class, NULL, devno + i, NULL, DEVICE_NAME "%d", i);
+#endif
+
+        if (IS_ERR(chardev_device[i])) {
+            pr_err(DEVICE_NAME ": device create failed\n");
+            goto free_device;
+        }
+    }
+
+#ifdef CUSTOM_INIT
+    CUSTOM_INIT
+#endif
+
+    return 0;
+
+free_device:
+    for (; i > 0; --i) {
+        device_destroy(chardev_class, devno + i - 1);
+    }
+    class_destroy(chardev_class);
+free_cdev:
+    cdev_del(&chardev);
+free_device_number:
+    unregister_chrdev_region(devno, NUMBER_OF_MINOR_DEVICE);
+    return -EIO;
+}
+
+static void __exit ModExit(void)
+{
+    unsigned int i = 0;
+
+    printk(KERN_DEBUG DEVICE_NAME ": exit");
+
+#ifdef CUSTOM_EXIT
+    CUSTOM_EXIT
+#endif
+
+    for (i = NUMBER_OF_MINOR_DEVICE; i > 0; --i) {
+        device_destroy(chardev_class, devno + i - 1);
+    }
+    class_destroy(chardev_class);
+    cdev_del(&chardev);
+    unregister_chrdev_region(devno, NUMBER_OF_MINOR_DEVICE);
+}
+
+module_init( ModInit );
+module_exit( ModExit );

project/modules/infrared_sensor_in_1/.infrared_sensor_in_1.ko.cmd

@@ -0,0 +1 @@
+cmd_/home/sikienzl/git/resy-ss17-grp1/project/modules/infrared_sensor_in_1/infrared_sensor_in_1.ko := aarch64-linux-gnu-ld -EL -r  -T ./scripts/module-common.lds --build-id  -o /home/sikienzl/git/resy-ss17-grp1/project/modules/infrared_sensor_in_1/infrared_sensor_in_1.ko /home/sikienzl/git/resy-ss17-grp1/project/modules/infrared_sensor_in_1/infrared_sensor_in_1.o /home/sikienzl/git/resy-ss17-grp1/project/modules/infrared_sensor_in_1/infrared_sensor_in_1.mod.o ;  true

project/modules/infrared_sensor_in_1/Makefile

@@ -0,0 +1 @@
+../Makefile

project/modules/infrared_sensor_in_1/infrared_sensor_in_1.c

@@ -0,0 +1,77 @@
+#include <linux/init.h>
+#include <linux/module.h>
+#include <linux/kernel.h>
+#include <linux/fs.h>
+#include <linux/cdev.h>
+#include <linux/gpio.h>
+#include <linux/kobject.h>
+#include <linux/device.h>
+#include <linux/uaccess.h>
+
+#define DEVICE_NAME "infrared_sensor_in_1"
+#define NUMBER_OF_MINOR_DEVICE (1)
+
+#include "../_common/infrared_sensor.def.h"
+
+static unsigned int infrared_sensor_in_1 = 2;
+static unsigned int count = 0;
+
+static int infrared_sensor_open(struct inode *devfile, struct file *instance) 
+{
+	int err;
+
+	err = gpio_request(infrared_sensor_in_1, "rpi-gpio-2");
+	if (err) {
+		printk("gpio_request for in_1 failed %d\n", err);
+		return -1;
+	}
+	err = gpio_direction_input(infrared_sensor_in_1);
+	if (err) {
+		printk("gpio_direction_input for in_1 failed %d\n", err);
+		gpio_free(infrared_sensor_in_1);
+		return -1;
+	}
+	printk("gpio 2 successfull configured\n");
+	return 0;
+
+
+}
+
+
+static ssize_t infrared_sensor_read( struct file *file, char __user *buffer, size_t length, loff_t *offset)
+{
+	unsigned long not_copied;
+	u32 value=0;
+
+
+
+    printk(KERN_DEBUG DEVICE_NAME ": read");
+
+    if (*offset > 0) {
+        return 0;
+    }
+
+    value = gpio_get_value(infrared_sensor_in_1);
+
+    not_copied = copy_to_user(buffer, &value, count);
+    *offset += count - not_copied;
+
+    return count - not_copied;
+}
+
+static int infrared_sensor_close( struct inode *devfile, struct file *instance)
+{
+	printk( "driver_close called\n" );
+	gpio_free( infrared_sensor_in_1 );
+	return 0;
+}
+
+
+static struct file_operations fops = {
+	.owner = THIS_MODULE,
+	.open = infrared_sensor_open,
+	.release = infrared_sensor_close,
+	.read = infrared_sensor_read,
+};
+
+#include "../_common/infrared_sensor.h";

project/modules/infrared_sensor_in_2/Makefile

@@ -0,0 +1 @@
+../Makefile

project/modules/infrared_sensor_in_2/infrared_sensor_in_2.c

@@ -0,0 +1,89 @@
+#include <linux/init.h>
+#include <linux/module.h>
+#include <linux/kernel.h>
+#include <linux/fs.h>
+#include <linux/cdev.h>
+#include <linux/gpio.h>
+#include <linux/kobject.h>
+#include <linux/device.h>
+#include <linux/uaccess.h>
+
+#define DEVICE_NAME "infrared_sensor_in_2"
+#define NUMBER_OF_MINOR_DEVICE (1)
+
+#include "../_common/infrared_sensor.def.h"
+
+static unsigned int infrared_sensor_in_2 = 3;
+static unsigned int count = 0;
+
+static int infrared_sensor_open(struct inode *devfile, struct file *instance) 
+{
+	int err;
+
+	err = gpio_request(infrared_sensor_in_2, "rpi-gpio-2");
+	if (err) {
+		printk("gpio_request for in_1 failed %d\n", err);
+		return -1;
+	}
+	err = gpio_direction_input(infrared_sensor_in_2);
+	if (err) {
+		printk("gpio_direction_input for in_1 failed %d\n", err);
+		gpio_free(infrared_sensor_in_2);
+		return -1;
+	}
+	printk("gpio 2 successfull configured\n");
+	return 0;
+
+
+}
+
+<<<<<<< HEAD:project/module/infrared_sensor/infrared_sensor_in_2.c
+static ssize_t infrared_sensor_read( struct file *file, char __user *buffer, size_t length, loff_t *offset)
+{
+	unsigned long not_copied;
+	u32 value=0;
+
+
+
+    printk(KERN_DEBUG DEVICE_NAME ": read");
+
+    if (*offset > 0) {
+        return 0;
+    }
+
+    value = gpio_get_value(infrared_sensor_in_2);
+
+    not_copied = copy_to_user(buffer, &value, count);
+    *offset += count - not_copied;
+
+    return count - not_copied;
+=======
+static ssize_t infrared_sensor_read( struct file *instance, char __user *user,
+							size_t max_bytes_to_read, loff_t *offset)
+{
+	unsigned long not_copied, to_copy;
+	u32 value = gpio_get_value;
+
+	to_copy = min( max_bytes_to_read, sizeof(value) );
+	not_copied=copy_to_user( user, &value, to_copy);
+
+	return to_copy - not_copied;
+>>>>>>> 8ad08b638d0490724f49b13692420465d9c65658:project/modules/infrared_sensor_in_2/infrared_sensor_in_2.c
+}
+
+static int infrared_sensor_close( struct inode *devfile, struct file *instance)
+{
+	printk( "driver_close called\n" );
+	gpio_free( infrared_sensor_in_2 );
+	return 0;
+}
+
+
+static struct file_operations fops = {
+	.owner = THIS_MODULE,
+	.open = infrared_sensor_open,
+	.release = infrared_sensor_close,
+	.read = infrared_sensor_read,
+};
+
+#include "../_common/infrared_sensor.h";

project/modules/infrared_sensor_in_3/Makefile

@@ -0,0 +1 @@
+../Makefile

project/modules/infrared_sensor_in_3/infrared_sensor_in_3.c

@@ -0,0 +1,89 @@
+#include <linux/init.h>
+#include <linux/module.h>
+#include <linux/kernel.h>
+#include <linux/fs.h>
+#include <linux/cdev.h>
+#include <linux/gpio.h>
+#include <linux/kobject.h>
+#include <linux/device.h>
+#include <linux/uaccess.h>
+
+#define DEVICE_NAME "infrared_sensor_in_3"
+#define NUMBER_OF_MINOR_DEVICE (1)
+
+#include "../_common/infrared_sensor.def.h"
+
+static unsigned int infrared_sensor_in_3 = 4;
+static unsigned int count = 0;
+
+static int infrared_sensor_open(struct inode *devfile, struct file *instance) 
+{
+	int err;
+
+	err = gpio_request(infrared_sensor_in_3, "rpi-gpio-2");
+	if (err) {
+		printk("gpio_request for in_1 failed %d\n", err);
+		return -1;
+	}
+	err = gpio_direction_input(infrared_sensor_in_3);
+	if (err) {
+		printk("gpio_direction_input for in_1 failed %d\n", err);
+		gpio_free(infrared_sensor_in_3);
+		return -1;
+	}
+	printk("gpio 2 successfull configured\n");
+	return 0;
+
+
+}
+
+<<<<<<< HEAD:project/module/infrared_sensor/infrared_sensor_in_3.c
+static ssize_t infrared_sensor_read( struct file *file, char __user *buffer, size_t length, loff_t *offset)
+{
+	unsigned long not_copied;
+	u32 value=0;
+
+
+
+    printk(KERN_DEBUG DEVICE_NAME ": read");
+
+    if (*offset > 0) {
+        return 0;
+    }
+
+    value = gpio_get_value(infrared_sensor_in_3);
+
+    not_copied = copy_to_user(buffer, &value, count);
+    *offset += count - not_copied;
+
+    return count - not_copied;
+=======
+static ssize_t infrared_sensor_read( struct file *instance, char __user *user,
+							size_t max_bytes_to_read, loff_t *offset)
+{
+	unsigned long not_copied, to_copy;
+	u32 value = gpio_get_value;
+
+	to_copy = min( max_bytes_to_read, sizeof(value) );
+	not_copied=copy_to_user( user, &value, to_copy);
+
+	return to_copy - not_copied;
+>>>>>>> 8ad08b638d0490724f49b13692420465d9c65658:project/modules/infrared_sensor_in_3/infrared_sensor_in_3.c
+}
+
+static int infrared_sensor_close( struct inode *devfile, struct file *instance)
+{
+	printk( "driver_close called\n" );
+	gpio_free( infrared_sensor_in_3 );
+	return 0;
+}
+
+
+static struct file_operations fops = {
+	.owner = THIS_MODULE,
+	.open = infrared_sensor_open,
+	.release = infrared_sensor_close,
+	.read = infrared_sensor_read,
+};
+
+#include "../_common/infrared_sensor.h";

project/modules/infrared_sensor_in_4/Makefile

@@ -0,0 +1 @@
+../Makefile

project/modules/infrared_sensor_in_4/infrared_sensor_in_4.c

@@ -0,0 +1,89 @@
+#include <linux/init.h>
+#include <linux/module.h>
+#include <linux/kernel.h>
+#include <linux/fs.h>
+#include <linux/cdev.h>
+#include <linux/gpio.h>
+#include <linux/kobject.h>
+#include <linux/device.h>
+#include <linux/uaccess.h>
+
+#define DEVICE_NAME "infrared_sensor_in_4"
+#define NUMBER_OF_MINOR_DEVICE (1)
+
+#include "../_common/infrared_sensor.def.h"
+
+static unsigned int infrared_sensor_in_4 = 18;
+static unsigned int count = 0;
+
+static int infrared_sensor_open(struct inode *devfile, struct file *instance) 
+{
+	int err;
+
+	err = gpio_request(infrared_sensor_in_4, "rpi-gpio-2");
+	if (err) {
+		printk("gpio_request for in_1 failed %d\n", err);
+		return -1;
+	}
+	err = gpio_direction_input(infrared_sensor_in_4);
+	if (err) {
+		printk("gpio_direction_input for in_1 failed %d\n", err);
+		gpio_free(infrared_sensor_in_4);
+		return -1;
+	}
+	printk("gpio 2 successfull configured\n");
+	return 0;
+
+
+}
+
+<<<<<<< HEAD:project/module/infrared_sensor/infrared_sensor_in_4.c
+static ssize_t infrared_sensor_read( struct file *file, char __user *buffer, size_t length, loff_t *offset)
+{
+	unsigned long not_copied;
+	u32 value=0;
+
+
+
+    printk(KERN_DEBUG DEVICE_NAME ": read");
+
+    if (*offset > 0) {
+        return 0;
+    }
+
+    value = gpio_get_value(infrared_sensor_in_4);
+
+    not_copied = copy_to_user(buffer, &value, count);
+    *offset += count - not_copied;
+
+    return count - not_copied;
+=======
+static ssize_t infrared_sensor_read( struct file *instance, char __user *user,
+							size_t max_bytes_to_read, loff_t *offset)
+{
+	unsigned long not_copied, to_copy;
+	u32 value = gpio_get_value;
+
+	to_copy = min( max_bytes_to_read, sizeof(value) );
+	not_copied=copy_to_user( user, &value, to_copy);
+
+	return to_copy - not_copied;
+>>>>>>> 8ad08b638d0490724f49b13692420465d9c65658:project/modules/infrared_sensor_in_4/infrared_sensor_in_4.c
+}
+
+static int infrared_sensor_close( struct inode *devfile, struct file *instance)
+{
+	printk( "driver_close called\n" );
+	gpio_free( infrared_sensor_in_4 );
+	return 0;
+}
+
+
+static struct file_operations fops = {
+	.owner = THIS_MODULE,
+	.open = infrared_sensor_open,
+	.release = infrared_sensor_close,
+	.read = infrared_sensor_read,
+};
+
+#include "../_common/infrared_sensor.h";