#include "copyright_wrs.h"/* includes */#include "vxWorks.h"#include "iv.h"#include "ioLib.h"#include "iosLib.h"#include "memLib.h"#include "tyLib.h"#include "errnoLib.h"#include "wdLib.h"#include "sysLib.h"#include "intLib.h"#include "taskLib.h"#include "ambakmi.h"/*#include "ambaKbd.c"*//* forward declarations */LOCAL void  mseHwInit();LOCAL int   mseOpen();LOCAL int   mseClose();LOCAL void  mseTxStart();LOCAL void  at91cMseIntr (MSE_DEVICE  *pDev);LOCAL void clkIntr();LOCAL void waitForCLK(int value);LOCAL void writeBit(UCHAR b)	;LOCAL unsigned char   in_char;LOCAL UCHAR bitCnt = 0;LOCAL UCHAR in_char;LOCAL UCHAR parity;LOCAL UCHAR byte2;LOCAL UCHAR parity2 = 1;LOCAL UCHAR bitCnt2 =0;/*lab used for ack receivelab=0,use int to send data lab =1,wait for an acklab =2 ,rec data */LOCAL UCHAR lab =2;	#include <ugl/sysWindML.h>/********************************************************************************* ambaPs2DevCreate - PS/2 mouse driver initialization routine** This routine creates a device for a PS/2 mouse.  The AMBA hardware is* initialized when the keyboard interface is initialized.** RETURNS: device number, if sucessful; otherwise ERROR.** SEE ALSO: */int  at91cPs2DevCreate    (    char         *name            /* name to be associated with device   */    )    {    int            mseDrvNum;    /* device number for this driver */    DEV_HDR     *  pHdr;    MSE_DEVICE  *  pMseDevice;    /* device descriptors */    char        *  pName;    WINDML_DEVICE *pDev;       /* if device is already present, do not create again */    pHdr = iosDevFind (name, &pName);    if ((pHdr != NULL) && (strcmp (name, pHdr->name) == 0))        return (OK);    pMseDevice = (MSE_DEVICE *)malloc (sizeof (MSE_DEVICE));    /* enable the mouse interrupt */        pDev = sysWindMLDevGet (WINDML_POINTER_DEVICE, 0, 0, 0);intDisable(KBD_MSE_INT_LVL);    intConnect(KBD_MSE_INT_VEC,clkIntr,(int)pMseDevice);	    /* Install the driver and return installation status */    mseDrvNum = iosDrvInstall(mseOpen, (FUNCPTR) NULL, mseOpen,                             (FUNCPTR) mseClose, tyRead, tyWrite, tyIoctl);    /* Create the channels for this device */    if (tyDevInit(&pMseDevice->ty_dev, 512, 512, (FUNCPTR)mseTxStart) != OK)        return (ERROR);    /* initialize the interface */    mseHwInit ();    KBD_INT_ENABLE;    MSE_INT_ENABLE;		/*taskDelay(120);*//*debug添加。。。。。*/    /* enable the pointer interrupt */    intEnable(KBD_MSE_INT_LVL);    /* add the device to the I/O system */    if (iosDevAdd(&pMseDevice->ty_dev.devHdr,name,mseDrvNum) == ERROR)        return (ERROR);    return (mseDrvNum);    }LOCAL void waitForCLK(int value)/*0,1		wait about 40us*/{  int i=0;  while ((MSE_CLK_READ != value) && (i++<2000));/*Wait for clk */}LOCAL void writeBit(UCHAR b)	/*	rise edge	*/{	waitForCLK(0);	MSE_DATA_WRITE(b);	waitForCLK(1);}void at91cMsWrite(unsigned char value){  int i=0;  UCHAR p=1;  MSE_INT_DISABLE;/*此處最好添加相應是否有數據收程序*/	MSE_CLK_OUTPUT;		/*clk,data as output*/	MSE_DATA_OUTPUT; 	MSE_CLK_WRITE(0);/*clk=0*/	MSE_DATA_WRITE(0);/*start bit=0*/	taskDelay(1);/*wait > 100us*/	 MSE_CLK_INPUT;	  for(i=0;i<8;i++)	  {	  	writeBit(value & 1);	/*bit write*/		p = p + value;				value = value >> 1;	  }	  writeBit(p & 1);/*check*/	  writeBit(1);		/*stop bit =1*/	  MSE_DATA_INPUT;/*data release ,data as input*/	   lab = 2;		/*表示直接接收數據*/	   bitCnt = 0;}/********************************************************************************* mseHwInit - initialize AMBA hardware for mouse support** This routine initializes the AMBA hardware for a PS/2 mouse.** RETURNS N/A** SEE ALSO: */LOCAL void mseHwInit (void)    {/*pio enable*/	*AT91C_PIOB_PER = MSE_CLK | MSE_DATA;/*	100K Pullup reg disable*/		*AT91C_PIOB_PPUDR = MSE_CLK | MSE_DATA; 	intDisable(AT91C_INT_LVL_PIOB);	*AT91C_PIOB_IDR = 0xffffffff;	*AT91C_AIC_SMR3 =  AT91C_AIC_SRCTYPE_INT_EDGE_TRIGGERED + 2;/*	實際驗證0.5s比較好	*/	at91cMsWrite(0xff);	/*	reset cmd ,get into stream mode	*/	taskDelay(30);	/*	ack is 0xfa ,aa ,00	*/	at91cMsWrite(0xf2);	/*id */	taskDelay(30);		at91cMsWrite(0xf4);	/*enable*/	taskDelay(60);    return;    }/********************************************************************************* mseOpen - open file** This routine opens the PS2 device.* * RETURNS device structure** SEE ALSO: */LOCAL int mseOpen    (    MSE_DEVICE  *dev,    char        *name,    int         mode    )    {        return ((int)dev);    }/*******************************************************************************  mseTxStart - send data to mouse** This routine transmits data to the PS2 device** RETURNS  N/A** SEE ALSO: */LOCAL void mseTxStart    (    MSE_DEVICE  *dev    )    {    char          out_char;    while (tyITx(&dev->ty_dev,&out_char) == OK);    }/******************************************************************************* mseClose - close file**  This routine closes the PS2 device** RETURNS N/A** SEE ALSO: */LOCAL int mseClose    (    MSE_DEVICE  *dev    )    {    return((int)dev);    }/******************************************************************************* ambaMseIntr - handle interrupts** This routine is the PS2 interrupt handler** RETURNS  NA** SEE ALSO: */LOCAL void at91cMseIntr     (    MSE_DEVICE  *pDev          /* device control structure */    )    {    	UINT16 data;	int oldMask;		oldMask=intLock();		if((MSE_CLK_READ == 0)&&(lab != 0))	/*fall-readbyte */		{			data = MSE_DATA_READ;			switch(lab)			{				case 1:			/*ack*/				if(data==0)				{					lab = 2;				}				break;				case 2:			/*after ack*/				switch(bitCnt)				{					case 0:					parity = 0;		/*for odd parity*/					in_char = 0;					if(data == 0)		/*start bit*/						bitCnt++;					else					{						intUnlock(oldMask);						return;					}					break;					case 1:					case 2:					case 3:					case 4:					case 5:					case 6:					case 7:					case 8:/*in_char*/							bitCnt++;					in_char |= data<< (bitCnt -2);					parity += data;					break;					case 9:					bitCnt++;					parity += data;					if((parity & 1) == 0)	/*parity bit wrong*/					{						bitCnt=0; 					}					break;					case 10:		/*stop bit*/					bitCnt =0;					if(data!= 0)					{						logMsg("m-%02x\n",in_char,2,3,4,5,6);							        tyIRd (&pDev->ty_dev,in_char);                                                                                  					}					break;					default:					bitCnt=0;					break;				}				break;				default:				break;			}		}		else if(lab==0)		{			bitCnt2++;			if(bitCnt2<=8)	/*in_char 1-8*/			{					MSE_DATA_WRITE(byte2&1);					parity2 += byte2;					byte2 = byte2 >>1;			}						else if(bitCnt2 == 9)/*parity	*/			{					MSE_DATA_WRITE(parity2 & 1);			}			else if(bitCnt2 == 10)/*stop */			{					MSE_DATA_WRITE(1);									lab = 1;					bitCnt2 = 0;/*					parity2 =1;*/					MSE_DATA_INPUT;/*data release ,data as input*/			}		}	intUnlock(oldMask);	    }/********************************************************************************* clkInt-* * This routine is called as interrupt comes** RETURNS: N/A** NOMANUAL*/LOCAL void clkIntr	(    	MSE_DEVICE  *pDev          /* device control structure */	){	UINT16 mask,status;	mask = *AT91C_PIOB_IMR;	status = *AT91C_PIOB_ISR;	status &= mask;#if 0	logMsg("status %x \n",status,2,3,4,5,6);#endif	if((status & MSE_CLK) == MSE_CLK)	{		at91cMseIntr(pDev);	}	if((status & KBD_CLK) == KBD_CLK)	{		at91ckbdIntr();	}	}