linux 电机驱动程序

#define __KERNEL__ #define MODULE #include <linux/module.h> #include <linux/version.h> #include <linux/init.h> #include <linux/fs.h> #include <linux/delay.h> #include <linux/poll.h> #include <asm/uaccess.h> /* get_user,copy_to_user */ #include <linux/string.h> #include <linux/kernel.h> #include <linux/sched.h> #include <linux/types.h> #include <linux/fcntl.h> #include <linux/interrupt.h> #include <linux/ptrace.h> #include <linux/ioport.h> #include <linux/in.h> //include <linux/malloc.h> #include <linux/slab.h> #include <linux/vmalloc.h> #include <linux/string.h> #include <linux/init.h> #include <asm/bitops.h> #include <asm/io.h> #include <linux/errno.h> #include <linux/tqueue.h> #include <linux/wait.h> #include <asm/irq.h> #include <asm/arch/hardware.h> #include <asm/arch/irqs.h> #include <asm/atomic.h> #include <linux/devfs_fs_kernel.h> #include <linux/spinlock.h> #include <linux/proc_fs.h> #include <linux/ioctl.h> #include "mx1_def.h" #include "motor.h" #define MOTOR_MAGIC 'k' #define SET_PULSE _IOW(MOTOR_MAGIC, 1,int) //#define SET_PULSE _IO(MOTOR_MAGIC, 1) #define MOTOR_ON _IO(MOTOR_MAGIC, 2) #define MOTOR_OFF _IO(MOTOR_MAGIC, 3) #define MOTOR_SUSPEND _IO(MOTOR_MAGIC, 4) #define MOTOR_RUSUME _IO(MOTOR_MAGIC, 5) //#define SET_PULSE_PULSE 0x5149 void motor_do_tasklet (unsigned long arg); volatile long new_count; long old_count; struct tasklet_struct motor_tasklet; DECLARE_TASKLET (motor_tasklet, motor_do_tasklet, 0); spinlock_t motor_lock = SPIN_LOCK_UNLOCKED; unsigned int result; volatile int flag = 0; unsigned int sec, time; static volatile int local_pulse = 0xdfff; //The max num of local_pulse is 65536 struct timeval tv1; //for debug wait_queue_head_t ts_wait; struct file_operations rtc_fops = { open:rtc_open, read:rtc_read, poll: rtc_poll, release:rtc_release, ioctl:motor_ioctl, }; int rtc_open (struct inode *inode, struct file *filp) { MOD_INC_USE_COUNT; enable_irq (18); writebit (RTC_RTCCTL) |= 0xa0; //Enable RTC and select 32k for rtc input writebit (RTC_RTCIENR)|= 0x200; //SET_PULSE the interrupt time is 0.128s writebit (TIMER2_TCTL2)|= 0x6; //Timer2 select 'TIN' generate pulse //0x6 writebit (TIMER2_TPRER2) &= ~0xff; //SET_PULSE the prescaler of timer2 is 1 writebit (PWMC1) |= 0x10; //Enable the pwm writebit (PWMP1) |= 0xffff; //Setup the period register for pwm mode writebit (PWMC1) |= 0xac;//default pwm choose perclk1 for source-clk;non-interrupt update pwms writebit (PWMS1) |= 0xdfff; //Setup the sample register for initial pulse-width //enable_irq(34); writebit (TIMER2_TCTL2) |= 0x1; //Enable the timer 2 return 0; } int rtc_release (struct inode *inode, struct file *filp) { MOD_DEC_USE_COUNT; writebit (PWMC1) |= 0x10000; //reset the pwm writebit (PWMC1) &= ~0x10; //disable pwm disable_irq (18); return 0; } ssize_t rtc_read (struct file * filp, char *buf, size_t count, loff_t * l) { int retval; if (copy_to_user (buf, &old_count, sizeof (long))) { retval = -EFAULT; } else { retval = 0; } return retval; } unsigned int rtc_poll (struct file *filp, struct poll_table_struct *wait) { poll_wait (filp, &ts_wait, wait); if (flag == 1) { flag = 0; //数据已经更新 return POLLIN | POLLRDNORM; } else { return 0; //数据没有更新 } } static void set_motor_onoff (int to) { if (to) { writebit (PWMC1) |= 0x10; writebit (PWMP1) |= 0xffff; writebit (PWMC1) &= ~0xff00; writebit (PWMC1) |= 0xac; writebit (PWMS1) |= 0xdfff; } else { writebit (PWMC1) |= 0x10000; writebit (PWMC1) &= ~0x10; } } static void set_motor_sspnd_rsume (int to) { if (to) { spin_lock_irq (&motor_lock); writebit (PWMS1) = 65535; spin_unlock_irq (&motor_lock); } else { spin_lock_irq (&motor_lock); writebit (PWMS1) = local_pulse; spin_unlock_irq (&motor_lock); } } static int motor_ioctl (struct inode *inode, struct file *filp, unsigned int cmd, unsigned long arg) { int data = 0; int retval; switch (cmd) { case MOTOR_OFF: case MOTOR_ON: set_motor_onoff ((cmd == MOTOR_ON) ? 1 : 0); return 0; case MOTOR_SUSPEND: case MOTOR_RUSUME: set_motor_sspnd_rsume ((cmd == MOTOR_SUSPEND) ? 1 : 0); return 0; case SET_PULSE: if (copy_from_user (&data, (int *) arg, sizeof (int))) return -EFAULT; if (data > 65535 || data < 0) return -EFAULT; printk("<1>The second count is:%d\n",(int)data); spin_lock_irq (&motor_lock); local_pulse = data; writebit (PWMS1) = data; spin_unlock_irq (&motor_lock); // local_pulse printk ("<1>The value of local_pulse is:%i\n", local_pulse); return 0; break; default: return -EINVAL; } return retval; } static void rtc_irq_handle (int irq, void *dev_id, struct pt_regs *regs) { new_count = writebit (TIMER2_TCN2); //new_count=writebit(PWMCNT1); //new_count=writebit(PWMS1); writebit (RTC_RTCCTL) &= ~0xa0; //Disable RTC writebit (RTC_RTCISR) |= 0x200; //Clear the interrupt statu bit of sam1(0.128s) //writebit(TIMER2_TCTL2)|=0x1000;//SET_PULSE the ReSET_PULSE bit of timer2 writebit (TIMER2_TCTL2) &= ~0x1; //Clear the enable bit of timer2 writebit (TIMER2_TCTL2) |= 0x6; //Re-SET_PULSE the clock-source of timer2 writebit (TIMER2_TPRER2) &= ~0xff; //Re-SET_PULSE the prescaler of timer2 is 1 //printk("<1>The second count is:%6i\n",(int)new_count); tasklet_schedule (&motor_tasklet); writebit (TIMER2_TCTL2)|= 0x1; //Enable the timer 2 writebit (RTC_RTCCTL) |= 0xa0; //Enable the rtc //local_pulse=local_pulse2;//for debug } void motor_do_tasklet (unsigned long arg) { flag = 1; if(new_count<65535) old_count = new_count; else old_count =65535; //spin_lock_irq (&motor_lock); // writebit (PWMS1) = (int)old_count; //spin_unlock_irq (&motor_lock); wake_up_interruptible (&ts_wait); } #ifdef MODULE int init_module (void) #else /* */ int __init init_rtc (void) #endif /* */ { init_waitqueue_head (&ts_wait); writebit (PTA_GIUS) &= 0xfffffff9; //SET_PULSE port A[1] and A[2] for multix writebit (PTA_GPR) &= 0xfffffff9; // SET_PULSE port A[1] and A[2] for primary function writebit(PTD_GIUS)&=0x7fffffff;//Prepare to SET_PULSE the Timer2_out pin enable //writebit(PTD_GPR)&=0x7fffffff;//.. result = register_chrdev (253, "motor", &rtc_fops); if (result < 0) { unregister_chrdev (253, "motor"); return result; } result = request_irq (18, rtc_irq_handle, SA_SHIRQ, "rtc", dev_id); //SA_INTERRUPT //result=request_irq(34,pwm_irq_handle,SA_INTERRUPT,"pwm", dev_id); //disable_irq(34); return 0; } #ifdef MODULE void cleanup_module (void) #else /* */ void __exit cleanup_rtc (void) #endif /* */ { //writebit(PWMC1)|=0x10000;//reSET_PULSE the pwm writebit (RTC_RTCCTL) &= ~0x000000a0; //disable rtc writebit (TIMER2_TCTL2) &= ~0x1; //disable timer2 writebit (PWMC1) &= ~0x10; //disable pwm //writebit(PWMP1)&=0x0000;//for debug //writebit(PWMS1)&=0x0000;//for debug clear the period bit of pwm disable_irq (18); free_irq (18, dev_id); //disable_irq(34); //free_irq(34, dev_id); unregister_chrdev (253, "motor"); } #ifndef MODULE module_init (init_rtc); module_exit (cleanup_rtc); #endif /* static void pwm_irq_handle(int irq, void *dev_id, struct pt_regs *regs) { spin_lock_irq(&motor_lock); //writebit(PWMS1)=local_pulse; //writebit(PWMC1)|=0xef; spin_unlock_irq(&motor_lock);//local_pulse //do_gettimeofday(&tv1);