[acme-dev] SF.net SVN: acme-dev:[82] kernel-stuff/stepper-driver/stepper-nopwm.c
- From: claudyus@xxxxxxxxxxxxxxxxxxxxx
- To: acme-dev@xxxxxxxxxxxxx
- Date: Sat, 21 May 2011 08:40:27 +0000
Revision: 82
http://acme-dev.svn.sourceforge.net/acme-dev/?rev=82&view=rev
Author: claudyus
Date: 2011-05-21 08:40:26 +0000 (Sat, 21 May 2011)
Log Message:
-----------
stepper-drv: Update to latest kernel api
Modified Paths:
--------------
kernel-stuff/stepper-driver/stepper-nopwm.c
Modified: kernel-stuff/stepper-driver/stepper-nopwm.c
===================================================================
--- kernel-stuff/stepper-driver/stepper-nopwm.c 2011-03-25 11:54:28 UTC (rev 81)
+++ kernel-stuff/stepper-driver/stepper-nopwm.c 2011-05-21 08:40:26 UTC (rev 82)
@@ -38,7 +38,7 @@
struct class *motor_class;
static dev_t motor_devno = 0;
-struct motor_device {
+static struct motor_device {
unsigned long steps_max;
unsigned long steps;
@@ -48,12 +48,12 @@
int g_lpwr;
int polarity;
- struct hrtimer t;
+ struct hrtimer *t;
int status;
ktime_t interval;
- struct cdev *motor_cdev;
-};
+ struct cdev *mcdev;
+} motor[MAX_MOT_NUM];
static unsigned int mot0[6] __initdata;
static unsigned int mot1[6] __initdata;
@@ -62,10 +62,8 @@
static unsigned int mot_nump[MAX_MOT_NUM] __initdata;
-static struct motor_device motor[MAX_MOT_NUM];
-
#define BUS_PARM_DESC \
- " config -> id,en,dir,step[,lowpwr,polarity]"
+ " config -> en,dir,step[,lowpwr,polarity]"
module_param_array(mot0, uint, &mot_nump[0], 0);
MODULE_PARM_DESC(mot0, "mot0" BUS_PARM_DESC);
@@ -76,11 +74,11 @@
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) {
+static int motor_pwm_set(struct motor_device *motp, unsigned long val) {
if (val == 0)
val =1;
- motor[id].interval = ktime_set(0, val * 1000000UL);
+ motp->interval = ktime_set(0, val * 1000000UL);
return 0;
}
@@ -102,7 +100,7 @@
if (mot->steps >= mot->steps_max) {
hrtimer_try_to_cancel(&(mot->t));
} else {
- hrtimer_forward(&(mot->t), ktime_get(), mot->interval);
+ hrtimer_forward(mot->t, ktime_get(), mot->interval);
return HRTIMER_RESTART;
}
@@ -110,15 +108,17 @@
}
/* IOCTL interface */
-static int motor_ioctl (/* struct inode *inode, */ struct file *file, unsigned
int cmd, unsigned long arg){
+static long motor_ioctl (struct file *file, unsigned int cmd, unsigned long
arg){
- int retval = 0, id;
+ int retval = 0;
unsigned long to_end;
/* Ioctl was recently restructured http://lwn.net/Articles/119652/ */
- struct cdev *p = file->f_dentry->d_inode->i_cdev;
- struct motor_device *mot = container_of(p, struct motor_device,
motor_cdev);
+ struct cdev *cdevp = file->f_dentry->d_inode->i_cdev;
+ struct motor_device *mot = container_of(cdevp, struct motor_device,
mcdev);
+ printk(KERN_INFO "stepper: ioctl if: command %d args %ld \n", cmd,
arg);
+
switch (cmd) {
case MOTOR_ENABLE:
if ((int)arg)
@@ -135,16 +135,16 @@
break;
case MOTOR_PWM_ON:
- hrtimer_start(&(mot->t), mot->interval,
HRTIMER_MODE_REL);
+ hrtimer_start(mot->t, mot->interval, HRTIMER_MODE_REL);
break;
case MOTOR_PWM_OFF:
- hrtimer_cancel(&(mot->t));
+ hrtimer_cancel(mot->t);
break;
case MOTOR_PWM_SET:
//set the pwm period in ms
- motor_pwm_set (arg, id);
+ motor_pwm_set (mot, arg);
break;
case MOTOR_RESET:
@@ -187,40 +187,34 @@
static int __init motor_add_one(unsigned int id, unsigned int *params)
{
int status;
- 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);
+ if ( mot_nump[id] < 3 ) {
+ printk(KERN_INFO "stepper: nothing to register for motor %d,
too few arguments: %d.\n", id, mot_nump[id]);
return 0;
}
+// Supported args: motX=en,dir,step[,lowpwr,polarity]
+ motor[id].g_enable = params[0];
+ motor[id].g_dir = params[1];
+ motor[id].g_step = params[2];
+ motor[id].g_lpwr = params[3];
+ motor[id].polarity = params[4];
- motor[id].g_enable = params[1];
- motor[id].g_dir = params[2];
- motor[id].g_step = params[3];
- motor[id].g_lpwr = params[4];
- motor[id].polarity = params[5];
-
/* sanity check */
if ( !( motor[id].g_enable && motor[id].g_dir && motor[id].g_step)) {
printk(KERN_INFO "stepper: missing parameters, exit driver.\n");
goto err_para;
}
-// INIT_WORK(&work[id], gpio_hr_work);
+// INIT_WORK(work[id], gpio_hr_work);
if (gpio_request(motor[id].g_step, "motor-step"))
return -EINVAL;
- hrtimer_init(&(motor[id].t), CLOCK_MONOTONIC, HRTIMER_MODE_REL);
+ hrtimer_init(motor[id].t, CLOCK_MONOTONIC, HRTIMER_MODE_REL);
- motor[id].t.function = &gpio_timeout;
-// mot_map_hrtimer[id] = &t[id];
+ motor[id].t->function = &gpio_timeout;
motor[id].interval = ktime_set(0, 10000000UL);
- //motor_pwm_set(1, id);
-
if ( gpio_request(motor[id].g_enable, "motor-enable") < 0 ) {
goto err_gpioenable;
}
@@ -242,26 +236,26 @@
/* set to home */
motor[id].steps = 0;
- /* alloc a new device number (major: dynamic, minor: 0) */
- status = alloc_chrdev_region(&motor_devno, 0, 1, "motor");
+ /* alloc a new device number (major: dynamic, minor: id) */
+ status = alloc_chrdev_region(&motor_devno, id, 1, "motor");
/* create a new char device */
- motor[id].motor_cdev = cdev_alloc();
- if(motor[id].motor_cdev == NULL) {
+ motor[id].mcdev = cdev_alloc();
+ if(motor[id].mcdev == NULL) {
status=-ENOMEM;
goto err_dev;
}
- motor[id].motor_cdev->owner = THIS_MODULE;
- motor[id].motor_cdev->ops = &motor_fops;
- status = cdev_add(motor[id].motor_cdev, motor_devno, 1);
+ motor[id].mcdev->owner = THIS_MODULE;
+ motor[id].mcdev->ops = &motor_fops;
+ status = cdev_add(motor[id].mcdev, motor_devno, 1);
if(status){
goto err_dev;
}
- device_create(motor_class, NULL, motor_devno, NULL, "motor%d",
params[0]);
+ device_create(motor_class, NULL, motor_devno, NULL, "motor%d", id);
printk(KERN_INFO "stepper: motor%d registred on major: %u; minor:
%u\n", \
- params[0], MAJOR(motor_devno), MINOR(motor_devno));
+ id, MAJOR(motor_devno), MINOR(motor_devno));
return 0;
This was sent by the SourceForge.net collaborative development platform, the
world's largest Open Source development site.
Other related posts:
- » [acme-dev] SF.net SVN: acme-dev:[82] kernel-stuff/stepper-driver/stepper-nopwm.c - claudyus
