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#include <linux/module.h>/*__init, __exit, module_init*/
#include <linux/platform_device.h>/*platform_driver*/
#include <linux/miscdevice.h>/*struct miscdevice*/
#include <linux/fs.h>/*file_operations*/
#include <asm/arch/hardware.h>/*GPCR2*/
#include <asm/arch/pxa-regs.h>
#include <asm/uaccess.h>/*copy_from_user()*/
#include <linux/delay.h>/*mdelay()*/
spinlock_t lock;/*声明一个自旋锁*/
static char ctrl[3];
static int mgc270_stepmotor_ctrl[] = {
81, //---A
82, //---B
83, //---C
84, //---D
};
static int mgc270_stepmotor_open(struct inode *inode, struct file *file)
{
unsigned int i;
/* Set ALl pins GPO Low */
for( i = 0; i < 4; i++)
pxa_gpio_mode(mgc270_stepmotor_ctrl[i] | GPIO_OUT | GPIO_DFLT_LOW);
printk("mgc270-stepmotor opened!\n");
return 0;
}
static ssize_t mgc270_stepmotor_write(struct file *file, const char __user *buffer, size_t len, loff_t *ppos)
{
unsigned char n, i;
unsigned long flags;
printk("mgc270-stepmotor write!\n");
spin_lock_irqsave(&lock, flags) ;
if (copy_from_user(&ctrl, buffer, sizeof(ctrl)) )
return -EFAULT;
printk("ctrl data is %d %d %d \n", ctrl[0]-0x30, ctrl[1]-0x30, ctrl[2]-0x30);
for( n = 0; n < ctrl[2]-0x30; n++ )
{
if(!(ctrl[0]-0x30)) //anticlockwise
{//步进电机顺时针转
// printk("ANTI CLOCKWISE!!\n");
for( i = 0; i < 4; i++ )
{
GPCR2 |= 0x0F << 17;/*GPCRx:Pin置高*/
GPSR2 |= 3 << ( 17 + i );/*GPSRx:Pin置低*/
if( i == 3 )
GPSR2 |= 1 << 17;
mdelay((ctrl[1]-0x30)*100);
}
} else { //clockwise
/*逆时针*/
// printk("CLOCK WISE!!\n");
for( i = 0; i < 4; i++ )
{
GPSR2 |= 0x0F << 17;
GPCR2 |= 3 << ( 20 - i );
if( i == 3 )
GPCR2 |= 1 << 20;
mdelay((ctrl[1]-0x30)*100);
}
}
}
spin_unlock_irqrestore(&lock, flags);
return sizeof(ctrl);
}
static int mgc270_stepmotor_release(struct inode *inode, struct file *file)
{
unsigned int i;
/* Set ALl pins GPO Low */
for( i = 0; i < 4; i++)
//设置GPIO模式
pxa_gpio_mode(mgc270_stepmotor_ctrl[i] | GPIO_OUT | GPIO_DFLT_LOW);
printk("mgc270-stepmotor released!\n");
return 0;
}
static int mgc270_stepmotor_ioctl(struct inode *inode, struct file *file,unsigned int cmd, unsigned long arg)
{
printk("mgc270-stepmotor ioctl\n");
/* you can write code for ioctl() here */
return 0;
}
static const struct file_operations mgc270_stepmotor_fops = {
.owner = THIS_MODULE,
.write = mgc270_stepmotor_write,
.ioctl = mgc270_stepmotor_ioctl,
.open = mgc270_stepmotor_open,
.release = mgc270_stepmotor_release,
};
static struct miscdevice mgc270_stepmotor_miscdev =
{
.minor = MISC_DYNAMIC_MINOR,
.name = "mgc270-stepmotor",
.fops = &mgc270_stepmotor_fops/*miscdevice设备的file_operations，参考字符设备中的*/
};
static int mgc270_stepmotor_probe(struct platform_device *dev)
{
int ret;
printk("probing mgc270-stepmotor!\n");
ret = misc_register(&mgc270_stepmotor_miscdev);
/*注册misc设备，miscdevice结构体提供操作函数入口*/
if (ret)
printk("Failed to register miscdev for MagicARM270 stepmotor.\n");
return ret;
}
static int mgc270_stepmotor_remove(struct platform_device *dev)
{/*卸载misc设备函数，在platform_driver_unregister()中被调用*/
printk(KERN_ALERT"remove!\n");
misc_deregister(&mgc270_stepmotor_miscdev);
printk("mgc270-stepmotor removed!\n");
return 0;
}
struct platform_device *mgc270_stepmotor_device;
static struct platform_driver mgc270_stepmotor_driver = {
.driver = {
.name = "mgc270-stepmotor",
.owner = THIS_MODULE,
},
.probe = mgc270_stepmotor_probe,/*第二级初始化入口，注册misc设备*/
.remove = mgc270_stepmotor_remove,/*移出函数入口，__exit调用*/
};
static int __init mgc270_stepmotor_init(void)
{//平台设备初始化，第一级初始化
int rc;
printk("mgc270-stepmotor init......\n");
mgc270_stepmotor_device = platform_device_alloc("mgc270-stepmotor", -1);
/*申请设备空间*/
if (!mgc270_stepmotor_device)
return -ENOMEM;
rc = platform_device_add(mgc270_stepmotor_device);
/*在platform_device总线上添加stepmotor设备［添加device］*/
if (rc < 0) {
platform_device_put(mgc270_stepmotor_device);
/*失败了则释放设备空间*/
return rc;
}
rc = platform_driver_register(&mgc270_stepmotor_driver);
/*在driver总线上注册驱动*/
if (rc < 0)
platform_device_unregister(mgc270_stepmotor_device);
/*失败了则删除device*/
spin_lock_init(&lock);/*初始化自旋锁*/
return rc;
}
static void __exit mgc270_stepmotor_exit(void)
{
printk(KERN_ALERT"exit!\n");
platform_driver_unregister(&mgc270_stepmotor_driver);
/*这里面调用*remove*/
printk(KERN_ALERT"driver_unregiste!\n");
platform_device_unregister(mgc270_stepmotor_device);
printk("mgc270-stepmotor exit!\n");
}
module_init(mgc270_stepmotor_init);
module_exit(mgc270_stepmotor_exit);
MODULE_AUTHOR("Abing ");
MODULE_DESCRIPTION("ZHIYUAN MagicARM270 stepmotor Driver");
MODULE_LICENSE("GPL");
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