无线视频监控小车之小车控制部分源码

#include<linux/module.h> #include<linux/kernel.h> #include<linux/fs.h> #include<linux/init.h> #include<linux/delay.h> #include<linux/poll.h> #include<asm/irq.h> #include<asm/io.h> #include<linux/interrupt.h> #include<asm/uaccess.h> #include<mach/hardware.h> #include<plat/regs-timer.h> #include<mach/regs-irq.h> #include<asm/mach/time.h> #include<linux/clk.h> #include<linux/cdev.h> #include<linux/device.h> #include<linux/miscdevice.h> #include<plat/map.h> #include<plat/map-base.h> #include<mach/gpio.h> #include<plat/regs-clock.h> #include<plat/regs-gpio.h> #include<plat/gpio-bank-k.h> #include<linux/timer.h> #include<linux/irq.h> #define DEVICE_NAME "iopwm" #define iopwm_irq IRQ_TIMER1 struct cdev *iopwm_cdev; unsigned int counter=0; unsigned int pwm[]={100,75,50,25}; unsigned long tmp; static irqreturn_t iopwm_interrupt(int irq,void *dev_id){ if(irq != IRQ_TIMER1){ printk("bad irq %d in timer \n",irq); return -1; } //printk("good irq %d in timer \n",irq); counter++; if(counter == pwm[0]){ tmp = readl(S3C64XX_GPKDAT); tmp |= (0x1<<8);//data of gpk8 writel(tmp,S3C64XX_GPKDAT); } if(counter == pwm[1]){ tmp = readl(S3C64XX_GPKDAT); tmp |= (0x4<<8);//data of gpk10 writel(tmp,S3C64XX_GPKDAT); } if(counter ==pwm[2]){ tmp = readl(S3C64XX_GPKDAT); tmp |= (0x1<<12);//data of gpk12 writel(tmp,S3C64XX_GPKDAT); } if(counter == pwm[3]){ tmp = readl(S3C64XX_GPKDAT); tmp |= (0x4<<12);//data of gpk14 writel(tmp,S3C64XX_GPKDAT); } if(counter == 60){ tmp = readl(S3C64XX_GPKDAT); tmp &= ~(0x55<<8);//clear gpk8,10,12,14 low level writel(tmp,S3C64XX_GPKDAT); counter = 0; } return IRQ_RETVAL(IRQ_HANDLED); } void iopwm_timerinit(void){ printk("\nEnter iopwm_timerinit Success\n"); unsigned long tcfg0,tcfg1,tcon,cstat; struct clk *clk_p; unsigned long pclk,tcnt; unsigned long freq=1000; unsigned temp; temp = readl(S3C64XX_GPKPUD); temp = (temp & ~(0x3333U<<16))|(0x2222U<<16); //pull up gpk8,10,12,14 writel(temp,S3C64XX_GPKPUD); temp =readl(S3C64XX_GPKCON1); temp = (temp & ~(0x0f0f0f0fU))|(0x01010101U);//con1 of gpk 8 10 12 14 writel(temp,S3C64XX_GPKCON1); temp = readl(S3C64XX_GPKDAT); temp |= (0x55<<8); writel(temp,S3C64XX_GPKDAT); tcon = __raw_readl(S3C_TCON); tcfg1 = __raw_readl(S3C_TCFG1); tcfg0 = __raw_readl(S3C_TCFG0); tcfg0 &=~S3C_TCFG_PRESCALER0_MASK; tcfg0 |=(50-1); tcfg1 &= ~S3C_TCFG1_MUX1_MASK; tcfg1 |= S3C_TCFG1_MUX1_DIV16; __raw_writel(tcfg1,S3C_TCFG1); __raw_writel(tcfg0,S3C_TCFG0); clk_p = clk_get(NULL,"pclk"); pclk = clk_get_rate(clk_p); tcnt = (pclk/50/16)/freq; printk("TCNT is %ld\n",tcnt); __raw_writel(tcnt,S3C_TCNTB(1)); __raw_writel(tcnt/2,S3C_TCMPB(1)); cstat = __raw_readl(S3C_TINT_CSTAT); cstat |= (0x2); __raw_writel(cstat,S3C_TINT_CSTAT); tcon &= ~(0xf1<<4); tcon |= (0xb<<8); //disable deadzone, auto-reload, inv-off, update TCNTB0&TCMPB0, start timer 0 __raw_writel(tcon, S3C_TCON); tcon &= ~(0x2<<8); //clear manual update bit __raw_writel(tcon, S3C_TCON); printk("\ninit iopwm Success\n"); } static int iopwm_open(struct inode *inode,struct file * filp){ printk("iopwm_open Success\n"); return 0; } static int iopwm_ioctl(struct inode *inode,struct file *file,unsigned int cmd,unsigned int arg){ printk("\nEnter iopwm_ioctl cmd=%d\t arg=%d\n",cmd,arg); switch(cmd){ case 0: pwm[0] = arg;break; case 1: pwm[1] = arg;break; case 2: pwm[2] = arg;break; case 4: pwm[3] = arg;break; default: return -EINVAL; } //iopwm_timerinit(); return 0; } static int iopwm_close(struct inode *inode,struct file *filp){ printk("iopwm_close Success\n"); return 0; } static struct file_operations iopwm_fops={ .owner = THIS_MODULE, .open = iopwm_open, .ioctl = iopwm_ioctl, .release = iopwm_close, }; static struct miscdevice misc={ .minor = MISC_DYNAMIC_MINOR, .name = DEVICE_NAME, .fops = &iopwm_fops, }; static int __init iopwm_init(void){ int ret; ret = misc_register(&misc); printk(DEVICE_NAME"\tinitialized\n"); iopwm_timerinit(); ret = request_irq(iopwm_irq,iopwm_interrupt,IRQ_TYPE_LEVEL_HIGH,DEVICE_NAME,NULL); if(ret < 0 ){printk("\nRegister IOPWMfailed!\n"); return ret;} printk("\nRegister IOPWM Success\n"); return ret; } static void __exit iopwm_exit(void){ free_irq(iopwm_irq,NULL); misc_deregister(&misc); } module_init(iopwm_init); module_exit(iopwm_exit); MODULE_LICENSE("GPL"); MODULE_AUTHOR("JCracker");