[acme-dev] SF.net SVN: acme-dev:[86]
- From: claudyus@xxxxxxxxxxxxxxxxxxxxx
- To: acme-dev@xxxxxxxxxxxxx
- Date: Sat, 21 May 2011 08:41:27 +0000
Revision: 86
http://acme-dev.svn.sourceforge.net/acme-dev/?rev=86&view=rev
Author: claudyus
Date: 2011-05-21 08:41:27 +0000 (Sat, 21 May 2011)
Log Message:
-----------
stepper-drw: implement real solution in 0.4
fox.py: align apis, remove pin_name for class pin
Modified Paths:
--------------
kernel-stuff/stepper-driver/stepper-nopwm.c
python/fox.py
Modified: kernel-stuff/stepper-driver/stepper-nopwm.c
===================================================================
--- kernel-stuff/stepper-driver/stepper-nopwm.c 2011-05-21 08:41:09 UTC (rev 85)
+++ kernel-stuff/stepper-driver/stepper-nopwm.c 2011-05-21 08:41:27 UTC (rev 86)
@@ -20,6 +20,7 @@
#include <linux/gpio.h>
#include <linux/slab.h>
#include <linux/io.h>
+#include <linux/input.h>
#include <linux/platform_device.h>
#include <linux/hrtimer.h>
#include <linux/workqueue.h>
@@ -30,18 +31,20 @@
#define DRV_NAME "stepper-drv"
#define DRV_DESC "Stepper motor driver using gpio and pwm pins"
-#define DRV_VERSION "0.3-emulating"
+#define DRV_VERSION "0.4-emulating"
#define MAX_MOT_NUM 4
/* module var*/
struct class *motor_class;
struct motor_device *motor;
+struct input_dev *motor_input_dev; /*manage the limits*/
static dev_t motor_devno = 0;
struct motor_device {
unsigned long steps_max;
unsigned long steps;
+ int count;
int g_enable;
int g_dir;
@@ -53,6 +56,8 @@
ktime_t interval;
int status;
+ unsigned long num_steps;
+
struct cdev *mcdev;
};
@@ -111,17 +116,17 @@
mot->steps++;
}
- if (mot->steps < mot->steps_max) {
- hrtimer_forward(&(mot->hrt), ktime_get(), mot->interval);
- return HRTIMER_RESTART;
+ if (mot->count == 1 && mot->steps >= mot->steps_max) {
+ hrtimer_try_to_cancel(&(mot->hrt));
+ return HRTIMER_NORESTART;
}
- hrtimer_try_to_cancel(&(mot->hrt));
- return HRTIMER_NORESTART;
+ hrtimer_forward(&(mot->hrt), ktime_get(), mot->interval);
+ return HRTIMER_RESTART;
}
/* IOCTL interface */
-static long motor_ioctl (struct file *file, unsigned int cmd, unsigned long
arg){
+static int motor_ioctl (struct file *file, unsigned int cmd, unsigned long
arg){
int retval = 0;
unsigned long to_end;
@@ -148,7 +153,13 @@
break;
case MOTOR_START:
+ mot->count = 1; //execute step_max steps
+ hrtimer_start(&(mot->hrt), mot->interval,
HRTIMER_MODE_REL);
+ break;
+
case MOTOR_PWM_ON:
+ //run without step count
+ mot->count = 0;
hrtimer_start(&(mot->hrt), mot->interval,
HRTIMER_MODE_REL);
break;
@@ -191,8 +202,9 @@
return retval;
}
+
struct file_operations motor_fops = {
- .owner = THIS_MODULE,
+ .owner = THIS_MODULE,
.unlocked_ioctl = motor_ioctl,
};
@@ -204,12 +216,13 @@
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]
+// Supported args: motX=en,dir,step,limit[,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_limit = 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)) {
@@ -217,7 +230,6 @@
goto err_para;
}
-// printk(KERN_INFO "request g_spte\n");
if (gpio_request(motor[id].g_step, "motor-step"))
return -EINVAL;
@@ -231,13 +243,26 @@
goto err_gpioenable;
}
gpio_direction_output(motor[id].g_enable ,0);
- gpio_set_value (motor[id].g_enable, 0);
+ gpio_set_value (motor[id].g_enable, 1);
if ( gpio_request(motor[id].g_dir, "motor-ccw") < 0) {
goto err_gpiodir;
}
gpio_direction_output(motor[id].g_dir ,0);
+
+ if ( gpio_request(motor[id].g_limit, "motor-limit") < 0) {
+ goto err_gpiolimit;
+ }
+ gpio_direction_input(motor[id].g_limit ,1);
+#if CONFIG_MACH_AT91
+ at91_set_deglitch(motor[id].g_limit, 1); /* Enable the glitch
filter for interrupt */
+#endif
+ ret = request_irq(motor[id].g_limit, enc424j600_irq, 0, DRV_NAME, priv);
+ if (ret < 0) {
+ printk(KERN_INFO "stepper: error requiring .\n");
+ }
+
if (motor[id].g_lpwr != 0) {
if ( gpio_request(motor[id].g_lpwr, "motor-lowpwr") < 0 ) {
goto err_gpiolwr;
@@ -253,7 +278,6 @@
/* 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;
@@ -300,10 +324,16 @@
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);
+ printk(KERN_INFO "Minimun clock resolution is %ldns\n", tp.tv_nsec);
motor = kmalloc(sizeof(struct motor_device) * MAX_MOT_NUM, GFP_KERNEL );
+ motor_input_dev = input_allocate_device();
+ if (!motor_input_dev) {
+ printk(KERN_INFO "stepper: Cannot allocate input device\n");
+ return -ENOMEM;
+ }
+
/*register the class */
motor_class = class_create(THIS_MODULE, "motor_class");
if(IS_ERR(motor_class)){
Modified: python/fox.py
===================================================================
--- python/fox.py 2011-05-21 08:41:09 UTC (rev 85)
+++ python/fox.py 2011-05-21 08:41:27 UTC (rev 86)
@@ -5,9 +5,10 @@
# $Id$
import os.path
-import serial
+#import serial
import fcntl, struct, termios, os
import time
+import types
GPIO_GET = 16906
GPIO_SET = 16907
@@ -22,93 +23,19 @@
class pin:
"""This call can be used to access GPIO pins using device base method\n
- It implements: pin(fox_pin_name, direction), .get(), .set(1|0)"""
- kernelid_table = {
- 'J7.3' : 82,
- 'J7.4' : 83,
- 'J7.5' : 80,
- 'J7.6' : 81,
- 'J7.7' : 66,
- 'J7.8' : 67,
- 'J7.9' : 64,
- 'J7.10' : 65,
- 'J7.11' : 110,
- 'J7.12' : 111,
- 'J7.13' : 108,
- 'J7.14' : 109,
- 'J7.15' : 105,
- 'J7.16' : 106,
- 'J7.17' : 103,
- 'J7.18' : 104,
- 'J7.19' : 101,
- 'J7.20' : 102,
- 'J7.21' : 73,
- 'J7.22' : 72,
- 'J7.31' : 87,
- 'J7.32' : 86,
- 'J7.33' : 89,
- 'J7.34' : 88,
- 'J7.35' : 60,
- 'J7.36' : 59,
- 'J7.37' : 58,
- 'J7.38' : 57,
- 'J6.3' : 92,
- 'J6.4' : 71,
- 'J6.5' : 70,
- 'J6.6' : 93,
- 'J6.7' : 90,
- 'J6.8' : 69,
- 'J6.9' : 68,
- 'J6.10' : 91,
- 'J6.13' : 75,
- 'J6.14' : 74,
- 'J6.15' : 77,
- 'J6.16' : 76,
- 'J6.17' : 85,
- 'J6.18' : 84,
- 'J6.19' : 95,
- 'J6.20' : 94,
- 'J6.21' : 63,
- 'J6.22' : 62,
- 'J6.24' : 38,
- 'J6.25' : 39,
- 'J6.26' : 41,
- 'J6.27' : 99,
- 'J6.28' : 98,
- 'J6.29' : 97,
- 'J6.30' : 96,
- 'J6.31' : 56,
- 'J6.32' : 55,
- 'J6.36' : 42,
- 'J6.37' : 54,
- 'J6.38' : 43,
- }
+ It implements: pin(kernel_id_pin, direction), .get(), .set(1|0)"""
fd_pin = -1
- def is_low(self, string):
- if (string == "out" or string == "low" or string == "0"):
- return True
- if (string == "in" or string == "high" or string == "1"):
- return False
- return int(string)
+ def __init__(self,kernelid,direction):
- def getid(self,pin_name):
- if (pin_name.isdigit() == False ):
- return self.kernelid_table[pin_name]
- else:
- return int(pin_name)
-
- def __init__(self,pin_name,direction):
- self.kernelid=self.getid(pin_name)
-
self.fd_pin = open ("/dev/gpio")
fcntl.ioctl(self.fd_pin, GPIO_REQUEST, self.kernelid)
if self.is_low(direction):
- fcntl.ioctl(self.fd_pin, GPIO_DIR_OUT, self.kernelid)
+ fcntl.ioctl(self.fd_pin, GPIO_DIR_OUT, kernelid)
else:
- fcntl.ioctl(self.fd_pin, GPIO_DIR_IN, self.kernelid)
+ fcntl.ioctl(self.fd_pin, GPIO_DIR_IN, kernelid)
def set(self,value):
if self.is_low(value):
@@ -128,6 +55,10 @@
def free(self):
fcntl.ioctl(self.fd_pin, GPIO_FREE, self.kernelid)
+ def __del__(self):
+ self.free()
+
+
class display:
""" This class can be used to controll 4D System oled display
attacched to serial port. If no arg is supply if will use ttyS3 as default.
@@ -151,6 +82,10 @@
ser.write("s%c%c%c%c%c%s%c" %
(int(x),int(y),1,0xFF,0xFF,string,0x00))
ser.read(1)
+ def __del__(self):
+ ser.close()
+
+
class adc:
"""This class allow you to access the four ADC channel using the
appropriate device file"""
def __init__ (self, chan):
@@ -185,9 +120,12 @@
self.pt1.off()
self.pt2.off()
+ def __del__(self):
+ self.pt1.free()
+ self.pt2.()
class stepper:
- """ This class allow you to drive a stepper motor using gpio pins.\n
+ """ This class allow you to drive a stepper motor using pwm signal and
gpio for actual limits.\n
The stepper class use the follow paramethers for costructor:\n
(enable, direction, step, [limit], [low_pwr])\n
"""
@@ -197,36 +135,23 @@
direction = 0
def __init__ (self, en, dir, step, limit=0, low_pwr=0):
- self.en_pin = pin(en, "out")
- self.dir_pin = pin(dir, "out")
- self.step_pin = pin(step, "out")
- if (low_pwr != 0):
- self.lwpwr_pin = pin(low_pwr, "out")
- self.have_lowpwr= 1
if (limit != 0):
self.limit_pin = pin(limit, "in")
self.have_limit = 1
- #reset the hw
- self.dir(0)
- self.disable()
def enable (self):
- self.en_pin.off()
+ self.step_pwm.enable(1)
def disable (self):
- self.en_pin.on()
+ self.step_pwm.enable(0)
def dir (self, value):
- self.dir_pin.set(value)
+ self.step_pwm.dir(value)
self.direction = value
def recover_end (self, step=300):
print "direction: %d" % self.direction
- self.dir_pin.set(not self.direction)
- for i in range(0, step):
- self.step_pin.set(0)
- self.step_pin.set(1)
- self.dir_pin.set(self.direction)
+ self.step_pwm.dir(not self.direction)
def step (self, number=1, delay=0, recover_step=300):
self.enable()
@@ -256,7 +181,7 @@
MOTOR_ENABLE = 19210
MOTOR_DIR = 19211
MOTOR_PWM_ON = 19212
-MOTOR_PWN_OFF = 19213
+MOTOR_PWM_OFF = 19213
MOTOR_PWM_SET = 19214
MOTOR_RESET = 19215
MOTOR_STEPS = 19216
@@ -287,9 +212,9 @@
def pwm_off(self):
fcntl.ioctl(self.dev_fd_pwm, MOTOR_PWM_OFF)
- def pwm_set(self,val_ns):
- """set the pulse width, express in ns"""
- fcntl.ioctl(self.dev_fd_pwm, MOTOR_PWM_SET, val_ns)
+ def pwm_set(self,val_ms):
+ """set the pulse width, express in ms"""
+ fcntl.ioctl(self.dev_fd_pwm, MOTOR_PWM_SET, val_ms)
def step_reset (self):
fcntl.ioctl(self.dev_fd_pwm, MOTOR_RESET)
@@ -299,12 +224,9 @@
fcntl.ioctl(self.dev_fd_pwm, MOTOR_STEPS, val)
def start(self):
- fcntl.ioctl(self.dev_fd_pwm, MOTOR_START)
+ # return the number of missin steps
+ return fcntl.ioctl(self.dev_fd_pwm, MOTOR_START)
def lowpwr(self):
fcntl.ioctl(self.dev_fd_pwm, MOTOR_LOWPWR)
- #output
- #def to_end(self)
- # fcntl.ioctl(self.dev_fd_pwm, MOTOR_TO_END, val)
- # return val
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