[acme-dev] SF.net SVN: acme-dev:[75]
- From: claudyus@xxxxxxxxxxxxxxxxxxxxx
- To: acme-dev@xxxxxxxxxxxxx
- Date: Mon, 11 Oct 2010 14:02:21 +0000
Revision: 75
http://acme-dev.svn.sourceforge.net/acme-dev/?rev=75&view=rev
Author: claudyus
Date: 2010-10-11 14:02:21 +0000 (Mon, 11 Oct 2010)
Log Message:
-----------
[stepper] no pwm version
Modified Paths:
--------------
kernel-stuff/stepper-driver/Makefile
packages/stepper-driver/Makefile
Added Paths:
-----------
kernel-stuff/stepper-driver/stepper-nopwm.c
Modified: kernel-stuff/stepper-driver/Makefile
===================================================================
--- kernel-stuff/stepper-driver/Makefile 2010-09-24 10:07:45 UTC (rev 74)
+++ kernel-stuff/stepper-driver/Makefile 2010-10-11 14:02:21 UTC (rev 75)
@@ -1,4 +1,5 @@
obj-m := stepper-drv.o
+obj-m := stepper-nopwm.o
KERNELDIR?= /lib/modules/$(shell uname -r)/build
PWD := $(shell pwd)
Added: kernel-stuff/stepper-driver/stepper-nopwm.c
===================================================================
--- kernel-stuff/stepper-driver/stepper-nopwm.c (rev 0)
+++ kernel-stuff/stepper-driver/stepper-nopwm.c 2010-10-11 14:02:21 UTC (rev 75)
@@ -0,0 +1,362 @@
+/*
+ * Stepper motor driver over gpio with pwm support
+ *
+ * Copyright (R) 2010 Claudio Mignanti - <c.mignanti@xxxxxxxxx>
+ *
+ * This program is free software; you can redistribute it and/or
modify
+ * it under the terms of the GNU General Public License as
published by
+ * the Free Software Foundation.
+ *
+ * ---------------------------------------------------------------------------
+*/
+
+#include <linux/init.h>
+#include <linux/err.h>
+#include <linux/fs.h>
+#include <linux/device.h>
+#include <linux/cdev.h>
+#include <linux/moduleparam.h>
+#include <linux/kernel.h>
+#include <linux/gpio.h>
+#include <linux/slab.h>
+#include <linux/io.h>
+#include <linux/platform_device.h>
+#include <linux/hrtimer.h>
+#include <linux/workqueue.h>
+
+#include <asm/uaccess.h>
+
+#include "motor.h"
+
+#define DRV_NAME "stepper-drv"
+#define DRV_DESC "Stepper motor driver using gpio and pwm pins"
+#define DRV_VERSION "0.1-no_pwm"
+
+#define MAX_MOT_NUM 4
+
+/* module var*/
+struct class *motor_class;
+static dev_t motor_devno = 0;
+unsigned long steps_max[MAX_MOT_NUM] = {0}, steps[MAX_MOT_NUM] = {0};
+
+/* module parameters */
+int g_enable[MAX_MOT_NUM] = {0} , g_dir[MAX_MOT_NUM] = {0}, \
+ g_step[MAX_MOT_NUM] = {0}, g_lpwr[MAX_MOT_NUM] = {0}, \
+ polarity[MAX_MOT_NUM] = {0};
+
+static unsigned int mot0[6] __initdata;
+static unsigned int mot1[6] __initdata;
+static unsigned int mot2[6] __initdata;
+static unsigned int mot3[6] __initdata;
+
+static unsigned int mot_nump[MAX_MOT_NUM] __initdata;
+
+static int mot_map[MAX_MOT_NUM] = {0};
+static int mot_map_pwm[MAX_MOT_NUM] = {0};
+static struct hrtimer *mot_map_hrtimer[MAX_MOT_NUM] = {0};
+
+// de-pwm
+static struct hrtimer t[MAX_MOT_NUM];
+static int status[MAX_MOT_NUM];
+static struct work_struct work[MAX_MOT_NUM];
+ktime_t interval[MAX_MOT_NUM];
+
+#define BUS_PARM_DESC \
+ " config -> id,en,dir,step[,lowpwr,polarity]"
+
+module_param_array(mot0, uint, &mot_nump[0], 0);
+MODULE_PARM_DESC(mot0, "mot0" BUS_PARM_DESC);
+module_param_array(mot1, uint, &mot_nump[1], 0);
+MODULE_PARM_DESC(mot1, "mot1" BUS_PARM_DESC);
+module_param_array(mot2, uint, &mot_nump[2], 0);
+MODULE_PARM_DESC(mot2, "mot2" BUS_PARM_DESC);
+module_param_array(mot3, uint, &mot_nump[3], 0);
+MODULE_PARM_DESC(mot3, "mot3" BUS_PARM_DESC);
+
+static int motor_pwm_set(unsigned long val, int id) {
+ if (val == 0)
+ val =1;
+
+ interval[id] = ktime_set(0, val * 1000000UL);
+ return 0;
+}
+
+static int cdev_to_id (struct cdev* cdev) {
+ int i;
+ for (i=0; i < MAX_MOT_NUM; i++) {
+ if (cdev == (struct cdev*) (mot_map[i]))
+ return i;
+ }
+ return 0;
+}
+
+static int hrtimer_to_id (struct hrtimer *t) {
+ int i;
+ for (i=0; i < MAX_MOT_NUM; i++) {
+ if (t == (struct hrtimer *) (mot_map_hrtimer[i]))
+ return i;
+ }
+ return 0;
+}
+
+static void gpio_hr_work (struct work_struct *work) {
+ printk(KERN_INFO "stepper: gpio_hr_work\n");
+}
+
+static enum hrtimer_restart gpio_timeout(struct hrtimer *t)
+{
+ int id = hrtimer_to_id(t), ret = 0;
+
+ printk(KERN_INFO "stepper: gpio_timeout %d\n",status[id]);
+
+ //TODO lock?
+ if (status[id]) {
+ gpio_set_value(g_step[id] ,0);
+ status[id] = 0;
+ } else {
+ gpio_set_value(g_step[id] ,1);
+ status[id] = 1;
+ steps[id]++;
+ }
+
+ if (steps[id] >= steps_max[id]) {
+ hrtimer_try_to_cancel(&t[id]);
+ } else {
+ hrtimer_forward(&t[id], ktime_get(), interval[id]);
+ return HRTIMER_RESTART;
+ }
+
+ return HRTIMER_NORESTART;
+}
+
+/* IOCTL interface */
+static int motor_ioctl (struct inode *in, struct file *fl, unsigned int cmd, \
+ unsigned long arg) {
+
+ int retval = 0, id;
+ unsigned long to_end;
+ struct cdev* p = in->i_cdev;
+
+ id = cdev_to_id (p);
+
+ //printk(KERN_INFO "stepper: arg: %l \n", arg);
+ switch (cmd) {
+ case MOTOR_ENABLE:
+ if ((int)arg)
+ gpio_set_value (g_enable[id], 0);
+ else
+ gpio_set_value (g_enable[id], 1);
+ break;
+
+ case MOTOR_DIR:
+ if ((int)arg)
+ gpio_set_value (g_dir[id], 1);
+ else
+ gpio_set_value (g_dir[id], 0);
+ break;
+
+ case MOTOR_PWM_ON:
+ hrtimer_start(&t[id], interval[id], HRTIMER_MODE_REL);
+ break;
+
+ case MOTOR_PWM_OFF:
+ hrtimer_cancel(&t[id]);
+ break;
+
+ case MOTOR_PWM_SET:
+ //set the pwm period in ms
+ motor_pwm_set (arg, id);
+ break;
+
+ case MOTOR_RESET:
+ steps[id] = 0; /* set the actual position as home */
+ break;
+
+ case MOTOR_STEPS:
+ steps_max[id] = arg; /* set the steps limit */
+ break;
+
+ case MOTOR_START:
+ hrtimer_start(&t[id], interval[id], HRTIMER_MODE_REL);
+ break;
+
+ case MOTOR_LOWPWR:
+ if ((int)arg)
+ gpio_set_value (g_lpwr[id], 1);
+ else
+ gpio_set_value (g_lpwr[id], 0);
+ break;
+
+ /* return steps_max-step */
+ case MOTOR_TO_END:
+ to_end = steps_max[id] - steps[id];
+ copy_to_user(&arg, &to_end, sizeof(unsigned long));
+ break;
+
+ default:
+ retval = -EINVAL;
+ }
+
+ return retval;
+}
+
+struct file_operations motor_fops = {
+ .owner = THIS_MODULE,
+ .ioctl = motor_ioctl,
+};
+
+static int __init motor_add_one(unsigned int id, unsigned int *params)
+{
+ int status, err;
+ struct cdev *motor_cdev;
+ struct platform_device *pdev;
+ //struct gpio_pwm_platform_data pdata;
+
+ if ( mot_nump[id] < 4 ) {
+ printk(KERN_INFO "stepper: nothing to register for id: %d.\n",
id);
+ return 0;
+ }
+
+ g_enable[id] = params[1];
+ g_dir[id] = params[2];
+ g_step[id] = params[3];
+ g_lpwr[id] = params[4];
+ polarity[id] = params[5];
+
+ /* sanity check */
+ if ( !( g_enable[id] && g_dir[id] && g_step[id])) {
+ printk(KERN_INFO "stepper: missing parameters, exit driver.\n");
+ goto err_para;
+ }
+
+ INIT_WORK(&work[id], gpio_hr_work);
+
+ if (gpio_request(g_step[id], "motor-step"))
+ return -EINVAL;
+
+ hrtimer_init(&t[id], CLOCK_MONOTONIC, HRTIMER_MODE_REL);
+
+ t[id].function = &gpio_timeout;
+ mot_map_hrtimer[id] = &t[id];
+ interval[id] = ktime_set(0, 10000000UL);
+
+ motor_pwm_set(1, id);
+
+ if ( gpio_request(g_enable[id], "motor-enable") < 0 ) {
+ goto err_gpioenable;
+ }
+ gpio_direction_output(g_enable[id] ,0);
+ gpio_set_value (g_enable[id], 0);
+
+ if ( gpio_request(g_dir[id], "motor-ccw") < 0) {
+ goto err_gpiodir;
+ }
+ gpio_direction_output(g_dir[id] ,0);
+
+ if (g_lpwr[id] != 0) {
+ if ( gpio_request(g_lpwr[id], "motor-lowpwr") < 0 ) {
+ goto err_gpiolwr;
+ }
+ gpio_direction_output(g_lpwr[id] ,0);
+ }
+
+ /* set to home */
+ steps[id] = 0;
+
+ /* alloc a new device number (major: dynamic, minor: 0) */
+ status = alloc_chrdev_region(&motor_devno, 0, 1, "motor");
+
+ /* create a new char device */
+ motor_cdev = cdev_alloc();
+ if(motor_cdev == NULL) {
+ status=-ENOMEM;
+ goto err_dev;
+ }
+
+ /*save the cdev for id's */
+ mot_map[id] = (int) motor_cdev;
+
+ motor_cdev->owner = THIS_MODULE;
+ motor_cdev->ops = &motor_fops;
+ status = cdev_add(motor_cdev, motor_devno, 1);
+ if(status){
+ goto err_dev;
+ }
+
+ device_create(motor_class, NULL, motor_devno, NULL, "motor%d",
params[0]);
+ printk(KERN_INFO "stepper: motor%d registred on major: %u; minor:
%u\n", \
+ params[0], MAJOR(motor_devno), MINOR(motor_devno));
+
+ return 0;
+
+err:
+ printk(KERN_INFO "stepper: err\n");
+err_dev:
+ printk(KERN_INFO "stepper: err_dev\n");
+err_gpiolwr:
+ printk(KERN_INFO "stepper: err_gpiolwr\n");
+err_gpiodir:
+ printk(KERN_INFO "stepper: err_gpiodir\n");
+err_gpioenable:
+ printk(KERN_INFO "stepper: err_gpioenable\n");
+err_gpiostep:
+ printk(KERN_INFO "stepper: err_gpiostep ");
+err_pwm:
+ printk(KERN_INFO "stepper: err_pwm\n");
+err_para:
+ printk(KERN_INFO "stepper: Error management not yet implemented. \
+ Please reboot your board %d\n",g_step[id]);
+ return -1;
+}
+
+static int __init motor_init(void)
+{
+ int err;
+ struct timespec tp;
+
+ printk(KERN_INFO DRV_DESC ", version " DRV_VERSION "\n");
+
+ hrtimer_get_res(CLOCK_MONOTONIC, &tp);
+ printk(KERN_INFO "Clock resolution is %ldns\n", tp.tv_nsec);
+
+ /*register the class */
+ motor_class = class_create(THIS_MODULE, "motor_class");
+ if(IS_ERR(motor_class)){
+ goto err;
+ }
+
+ err = motor_add_one(0, mot0);
+ if (err) goto err;
+
+ err = motor_add_one(1, mot1);
+ if (err) goto err;
+
+ err = motor_add_one(2, mot2);
+ if (err) goto err;
+
+ err = motor_add_one(3, mot3);
+ if (err) goto err;
+
+ return 0;
+
+err:
+ class_unregister(motor_class);
+ return -1;
+}
+
+static void __exit motor_exit(void)
+{
+
+ class_unregister(motor_class);
+
+ /*free the gpio_pins*/
+// for (i=0; i <
+}
+
+module_init(motor_init);
+module_exit(motor_exit);
+
+MODULE_AUTHOR("Claudio Mignanti <c.mignanti@xxxxxxxxx>");
+MODULE_DESCRIPTION("Stepper motor driver over gpio with pwm support");
+MODULE_LICENSE("GPL");
+MODULE_ALIAS("platform:motor-pwm");
Modified: packages/stepper-driver/Makefile
===================================================================
--- packages/stepper-driver/Makefile 2010-09-24 10:07:45 UTC (rev 74)
+++ packages/stepper-driver/Makefile 2010-10-11 14:02:21 UTC (rev 75)
@@ -15,9 +15,10 @@
define KernelPackage/stepper-driver
SUBMENU:=Other modules
- TITLE:=ADC
+ TITLE:=Stepper motor driver
DEPENDS:=@TARGET_at91 +kmod-pwm-gpio
- FILES:=$(PKG_BUILD_DIR)/stepper-drv.ko
+ FILES:=$(PKG_BUILD_DIR)/stepper-drv.ko \
+ $(PKG_BUILD_DIR)/stepper-nopwm.ko
endef
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