/** system depend  file*/#include <linux/init.h>#include <linux/config.h>#include <linux/module.h>#include <linux/moduleparam.h>#include <linux/init.h>#include <linux/sched.h>#include <linux/kernel.h> /* printk() */#include <linux/slab.h> /* kmalloc() */#include <linux/fs.h> /* everything... */#include <linux/errno.h> /* error codes */#include <linux/types.h> /* size_t */#include <linux/delay.h>#include <linux/proc_fs.h>#include <linux/fcntl.h> /* O_ACCMODE */#include <linux/aio.h>#include <asm/uaccess.h>#include <asm/leds.h>#include <linux/ioctl.h>#include <linux/cdev.h>#include <asm/semaphore.h>#include <asm/arch/map.h>#include <asm/arch/regs-timer.h>#include <asm/arch/regs-irq.h>#include <asm/arch/regs-gpio.h>#define DEVFS_FL_DEFAULT 0x000#define FACE_DEVNAME "robot_face"#define FACE_MASK	0xFFFF       //GPD are all output#define FACE_ADDR_MASK 0x003F	//GPE<5..0>=face addr#define BIT_TIMER0     (0x1<<10)#define BIT_TIMER1     (0x1<<11)#define BIT_TIMER2     (0x1<<12)#define BIT_TIMER3     (0x1<<13)#define BIT_TIMER4     (0x1<<14)static int nFaceMajor = 0;extern devfs_mk_dir(const char *fmt,...);int face_major =   0;int face_devs =    1; /* number of bare face devices */struct unit {		struct semaphore lock;		u32 	*GPD_CON;		u32 	*GPD_DAT;		u32 	*GPD_UP;		u32 	*GPE_CON;		u32 	*GPE_DAT;		u32 	*GPE_UP;		u32 	*TCFG0;		u32 	*TCFG1;		u32 	*TCON;		u32 	*TCNTB;		u32	*INTMSK;		u32	*SRCPND;		u32	*INTPND;	};	static struct unit face_unit={		.GPD_CON		=	(u32 *)S3C2410_GPDCON,		.GPD_DAT		=	(u32 *)S3C2410_GPDDAT,		.GPD_UP			=	(u32 *)S3C2410_GPDUP,		.GPE_CON		=	(u32 *)S3C2410_GPECON,		.GPE_DAT		=	(u32 *)S3C2410_GPEDAT,		.GPE_UP			=	(u32 *)S3C2410_GPEUP,		.TCFG0			=	(u32 *)S3C2410_TCFG0,		.TCFG1			=	(u32 *)S3C2410_TCFG1,		.TCON			=	(u32 *)S3C2410_TCON,		.TCNTB			=	(u32 *)S3C2410_TCNTB(1),		.INTMSK			=	(u32 *)S3C2410_INTMSK,		.SRCPND		=	(u32 *)S3C2410_SRCPND,		.INTPND			=	(u32 *)S3C2410_INTPND,	};void delay(int usecs){	volatile int loops;	for(loops = usecs * 12; loops > 0; loops--)		/* nothing */;	}volatile int face_counter;u16	face_tmp[40];//[0-15]:left eye; [16..31]:right eye;[32..39]:mousestatic irqreturn_t  Timer1Done(void)	{    		u32 temp;    		int j;      		//printk("t0\n"); 		   		*face_unit.SRCPND=BIT_TIMER1;   		*face_unit.INTPND=BIT_TIMER1;   		*face_unit.INTPND;   		   		*face_unit.GPE_DAT=*face_unit.GPE_DAT & (~FACE_ADDR_MASK) | face_counter;//set face address   		*face_unit.GPD_DAT=*face_unit.GPD_DAT & (~FACE_MASK) | face_tmp[face_counter];//set face value   		face_counter++;   		if(face_counter>=40)    			face_counter=0; 	}	int face_open (struct inode *inode, struct file *file)	{		printk("open\n");		file->private_data=&face_unit;				*face_unit.INTMSK=*face_unit.INTMSK &  (~BIT_TIMER1) ;//enable init_timer1 		*face_unit.TCON=*face_unit.TCON & ~(0x000f00) | 0x000900; //enable timer1 		 				return 0;          /* success */	}	static int face_release_f (struct inode *inode, struct file *file)	{		//printk("release\n");				return 0;	}	static ssize_t face_write (struct file *file, const char *buf, size_t count, loff_t *offset)	{		int j,ret;		struct unit *unit=(struct unit *)file->private_data;				ret=copy_from_user(face_tmp, buf, count) ? -EFAULT:count;						return ret;		}static struct file_operations face_ops = {	.owner 		=	THIS_MODULE,	.write 		=	face_write,	.open 		=	face_open,	.release 		=	face_release_f,};void face_init(void)	{    		int i,res;       		#ifdef CONFIG_DEVFS_FS			res= register_chrdev(0,FACE_DEVNAME, &face_ops);			if(res<0)				{					printk("robot_face.o:unable to get major for face device.\n");					return res;				}						//create the devfs: /driver/face/						devfs_mk_dir(FACE_DEVNAME);			devfs_mk_cdev(MKDEV(res,0),S_IFCHR | S_IRUSR |S_IWUSR, FACE_DEVNAME"/%d",0);		#else			res = register_chrdev(nFaceMajor, FACE_DEVNAME, &face_ops);		#endif						 		//get the major number		if(nFaceMajor==0)			{				nFaceMajor = res;				printk("Face major number = %d.\n",nFaceMajor);			}		/*		for (i=0;i<40;i++)			face_tmp[i]=0xffff;		*/			*face_unit.GPD_DAT=(*face_unit.GPD_DAT)&0x0;	    		*face_unit.GPD_CON=(*face_unit.GPD_CON)&0x0 | 0x55555555;    		*face_unit.GPD_UP=(*face_unit.GPD_UP) | 0xffff ;//disabled pull-up    		    		*face_unit.GPE_DAT=(*face_unit.GPE_DAT)  & (~FACE_ADDR_MASK) | 0x3;//not show    		*face_unit.GPE_CON=(*face_unit.GPD_CON) & 0xFFFFF000 | 0x00000555; //GPE[5..0]=OUTPUT    		*face_unit.GPE_UP=(*face_unit.GPD_UP) & 0xFFC0; //   GPE[5..0] pull up enabled    		    		face_counter=0;     				//*face_unit.GPD_DAT=face_unit.f;        		int ret=request_irq(IRQ_TIMER1,Timer1Done,SA_INTERRUPT,FACE_DEVNAME,NULL);   		*face_unit.INTMSK=*face_unit.INTMSK |  (BIT_TIMER1) ;//disable init_timer1   		    		if(ret)    			 {    				printk("IRQ_TIMER1: :could not register interrupt,ret=0x%X\n",ret);   			 	return ret;     			 }    		printk("IRQ_TIMER1:  register interrupt succeed,ret=0x%X\n",ret);    		    		      		      		*face_unit.TCFG0=*face_unit.TCFG0 & ~(0x0000ff) | 0x000000;     		*face_unit.TCFG1=*face_unit.TCFG1 & ~(0x0000f0) | 0x000030;     		     		*face_unit.TCNTB=0x271; //5kHz     		*face_unit.TCON=*face_unit.TCON & ~(0x000f00) | 0x000a00;      		//*face_unit.TCON=*face_unit.TCON & ~(0x000f00) | 0x000900;  		//printk("IRQ_TIMER1:  INTMSK=0x%X\n",*face_unit.INTMSK); 		 		}static void __exit face_exit(void)	{		int ret;		free_irq(IRQ_TIMER1,FACE_DEVNAME);						ret=unregister_chrdev(nFaceMajor, FACE_DEVNAME);		if (ret<0)		printk("error in module unregistering\n");				printk("Out,Out.\n");		//printk(KERN_ALERT "Out,Out.\n");	}module_init(face_init);module_exit(face_exit);MODULE_AUTHOR("JORRY");MODULE_LICENSE("GPL");