[acme-dev] SF.net SVN: acme-dev:[84] kernel-stuff/stepper-driver/stepper-nopwm.c
- From: claudyus@xxxxxxxxxxxxxxxxxxxxx
- To: acme-dev@xxxxxxxxxxxxx
- Date: Sat, 21 May 2011 08:40:56 +0000
Revision: 84
http://acme-dev.svn.sourceforge.net/acme-dev/?rev=84&view=rev
Author: claudyus
Date: 2011-05-21 08:40:56 +0000 (Sat, 21 May 2011)
Log Message:
-----------
stepper-drv: make it to use struct for local vars
Modified Paths:
--------------
kernel-stuff/stepper-driver/stepper-nopwm.c
Modified: kernel-stuff/stepper-driver/stepper-nopwm.c
===================================================================
--- kernel-stuff/stepper-driver/stepper-nopwm.c 2011-05-21 08:40:41 UTC (rev 83)
+++ kernel-stuff/stepper-driver/stepper-nopwm.c 2011-05-21 08:40:56 UTC (rev 84)
@@ -36,9 +36,10 @@
/* module var*/
struct class *motor_class;
+struct motor_device *motor;
static dev_t motor_devno = 0;
-static struct motor_device {
+struct motor_device {
unsigned long steps_max;
unsigned long steps;
@@ -48,12 +49,12 @@
int g_lpwr;
int polarity;
- struct hrtimer *t;
+ struct hrtimer hrt;
+ ktime_t interval;
int status;
- ktime_t interval;
struct cdev *mcdev;
-} motor[MAX_MOT_NUM];
+};
static unsigned int mot0[6] __initdata;
static unsigned int mot1[6] __initdata;
@@ -74,20 +75,33 @@
module_param_array(mot3, uint, &mot_nump[3], 0);
MODULE_PARM_DESC(mot3, "mot3" BUS_PARM_DESC);
-static int motor_pwm_set(struct motor_device *motp, unsigned long val) {
- if (val == 0)
- val =1;
- motp->interval = ktime_set(0, val * 1000000UL);
+struct motor_device * find_hrt (struct hrtimer *t)
+{
+ int i;
+ for ( i=0; i < MAX_MOT_NUM ; i++ ) {
+ if ( &(motor[i].hrt) == t)
+ return &(motor[i]);
+ }
return 0;
}
-static enum hrtimer_restart gpio_timeout(struct hrtimer *htime)
+struct motor_device * find_cdev (struct cdev *cdev)
{
- struct motor_device *mot = container_of(htime, struct motor_device, t);
+ int i;
+ for ( i=0; i < MAX_MOT_NUM ; i++ ) {
+ if ( motor[i].mcdev == cdev)
+ return &(motor[i]);
+ }
+ return 0;
+}
- printk(KERN_INFO "stepper: gpio_timeout %d\n",mot->status);
+static enum hrtimer_restart gpio_timeout(struct hrtimer *t)
+{
+ struct motor_device *mot = find_hrt(t);
+
+
if (mot->status) {
gpio_set_value(mot->g_step ,0);
mot->status = 0;
@@ -97,13 +111,12 @@
mot->steps++;
}
- if (mot->steps >= mot->steps_max) {
- hrtimer_try_to_cancel(&(mot->t));
- } else {
- hrtimer_forward(mot->t, ktime_get(), mot->interval);
+ if (mot->steps < mot->steps_max) {
+ hrtimer_forward(&(mot->hrt), ktime_get(), mot->interval);
return HRTIMER_RESTART;
}
+ hrtimer_try_to_cancel(&(mot->hrt));
return HRTIMER_NORESTART;
}
@@ -114,8 +127,8 @@
unsigned long to_end;
/* Ioctl was recently restructured http://lwn.net/Articles/119652/ */
- struct cdev *cdevp = file->f_dentry->d_inode->i_cdev;
- struct motor_device *mot = container_of(cdevp, struct motor_device,
mcdev);
+ struct cdev *cdev = file->f_dentry->d_inode->i_cdev;
+ struct motor_device *mot = find_cdev(cdev);
printk(KERN_INFO "stepper: ioctl if: command %d args %ld \n", cmd,
arg);
@@ -134,17 +147,20 @@
gpio_set_value (mot->g_dir, 0);
break;
+ case MOTOR_START:
case MOTOR_PWM_ON:
- hrtimer_start(mot->t, mot->interval, HRTIMER_MODE_REL);
+ hrtimer_start(&(mot->hrt), mot->interval,
HRTIMER_MODE_REL);
break;
case MOTOR_PWM_OFF:
- hrtimer_cancel(mot->t);
+ hrtimer_cancel(&(mot->hrt));
break;
case MOTOR_PWM_SET:
//set the pwm period in ms
- motor_pwm_set (mot, arg);
+ if (arg == 0) //ensure a reliable value
+ arg =1;
+ mot->interval = ktime_set(0, arg * 1000UL);
break;
case MOTOR_RESET:
@@ -155,10 +171,6 @@
mot->steps_max = arg; /* set the steps limit */
break;
- case MOTOR_START:
- hrtimer_start(&(mot->t), mot->interval,
HRTIMER_MODE_REL);
- break;
-
case MOTOR_LOWPWR:
if ((int)arg)
gpio_set_value (mot->g_lpwr, 1);
@@ -205,16 +217,16 @@
goto err_para;
}
-// INIT_WORK(work[id], gpio_hr_work);
-
+// printk(KERN_INFO "request g_spte\n");
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].hrt), CLOCK_MONOTONIC, HRTIMER_MODE_REL);
- motor[id].t->function = &gpio_timeout;
- motor[id].interval = ktime_set(0, 10000000UL);
+ motor[id].hrt.function = &gpio_timeout;
+ motor[id].interval = ktime_set(0, 1000000UL);
+
if ( gpio_request(motor[id].g_enable, "motor-enable") < 0 ) {
goto err_gpioenable;
}
@@ -241,6 +253,7 @@
/* create a new char device */
motor[id].mcdev = cdev_alloc();
+ printk(KERN_INFO "stepper: cdev: %d\n", motor[id].mcdev);
if(motor[id].mcdev == NULL) {
status=-ENOMEM;
goto err_dev;
@@ -289,6 +302,8 @@
hrtimer_get_res(CLOCK_MONOTONIC, &tp);
printk(KERN_INFO "Clock resolution is %ldns\n", tp.tv_nsec);
+ motor = kmalloc(sizeof(struct motor_device) * MAX_MOT_NUM, GFP_KERNEL );
+
/*register the class */
motor_class = class_create(THIS_MODULE, "motor_class");
if(IS_ERR(motor_class)){
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- » [acme-dev] SF.net SVN: acme-dev:[84] kernel-stuff/stepper-driver/stepper-nopwm.c - claudyus
