u110.c

linux下打印驱动源代码 适用于双步进针打驱动

/********************************************************************
 *  M-U110Ⅱ+ printer/linux-driver/MU1102.c
 *
 *  Arca FCR1.2 platform PRN Driver. (Epson M-U110Ⅱ)
 *  Author: 叶华峰
 *   Owner: START Technology Corp.
 *    Date: 2005.09.28
 ********************************************************************/
#include <linux/config.h>
#include <linux/module.h>
#include <linux/errno.h>
#include <linux/signal.h>
#include <linux/sched.h>
#include <linux/timer.h>
#include <linux/interrupt.h>
#include <linux/serial.h>
#include <linux/major.h>
#include <linux/string.h>
#include <linux/fcntl.h>
#include <linux/ptrace.h>
#include <linux/ioport.h>
#include <linux/mm.h>
#include <linux/slab.h>
#include <linux/init.h>
#include <linux/delay.h>

#include <linux/fs.h>
#include <linux/slab.h>
#include <linux/spinlock.h>
#include <linux/arca-chars.h>

#include <asm/system.h>
#include <asm/io.h>
#include <asm/irq.h>
#include <asm/uaccess.h>
#include <asm/bitops.h>

#include <asm/processor.h>
#include <asm/hardware.h>


/*******************************************************************
 **
 **
 *******************************************************************/
#define  EM_EER      0
#define  EM_OK       1

#define PRNIORESET      0x19750000
#define PRNIOBLKMARK    0x19750001
#define PRNIONEWLINE    0x19750002
#define PRNIOPAPERFW    0x19750003
#define PRNIOPAPERFB    0x19750004
#define PRNIOPOWEROFF	0x19750005

#define PRN_TIMER (1 * HZ)

#define DEBUG 0
#if DEBUG
#define dprintk(x...)	if (DEBUG) printk(x)
#else
#define dprintk(x...)
#endif

#if defined(CONFIG_ARCA_FCR12_PLATFORM)

#define PRN_COIL_REG     0xaf000000
#define PRN_CMOTOR_PORT1 0xaf400000
#define PRN_CMOTOR_PORT2 0xaf600000
#define PRN_PMOTOR_PORT1 0xaf800000
#define PRN_PMOTOR_PORT2 0xafa00000
#define PRN_STATUS_REG   0xafc00000
#define PRN_IRQM_REG     0xafc00000

#define STATUS_PMOTOR_READY  (1 << 6)   // 1左移6位 0100，0000
#define STATUS_CMOTOR_READY  (1 << 5)   // 1左移6位 0010，0000
#define STATUS_COIL_READY    (1 << 4)   // 1左移6位 0001，0000
#define STATUS_BLACKMARK     (1 << 3)   // 1左移6位 0000，1000
#define STATUS_PAPER_END     (1 << 2)   // 1左移6位 0000，0100
#define STATUS_HOME_POSITION (1 << 1)   // 1左移6位 0000，0010
#define STATUS_CARRIAGE_HOT  (1 << 0)   // 1左移6位 0000，0001

#ifndef REG8
#define REG8(n)          (*(volatile unsigned char *)(n))
#endif

#define EM_SET1(ucRegister,temp)  
do {				
		ucRegister=(ucRegister|temp)		
} while (0)
#define EM_CLR0(ucRegister,temp) 
do {				
		ucRegister=(ucRegister&temp)		
} while (0)

#define __prn_pmotor_ready()  (REG8(PRN_STATUS_REG) & STATUS_PMOTOR_READY)
#define __prn_cmotor_ready()  (REG8(PRN_STATUS_REG) & STATUS_CMOTOR_READY)
#define __prn_coil_ready()    (REG8(PRN_STATUS_REG) & STATUS_COIL_READY)
#define __prn_blackmark()     (!(REG8(PRN_STATUS_REG) & STATUS_BLACKMARK)//没有中断时为1。有中断时为0
#define __prn_paper_end()     (!(REG8(PRN_STATUS_REG) & STATUS_PAPER_END))
#define __prn_carriage_hot()  (REG8(PRN_STATUS_REG) & STATUS_CARRIAGE_HOT)

static volatile unsigned char prn_irq = 0;

static unsigned char old_val=0;   /* For test */
static unsigned char tmpp=0;      /* Nick */

/* How many steps the c-motor will walk to print the current line. */
static volatile int prn_line_max_steps=0;  

#define _NEVER_BLOCK    (sigmask(SIGKILL) | sigmask(SIGSTOP))
#define _DONT_BLOCK     (_NEVER_BLOCK | sigmask(SIGINT))
/*******************************************************************
 **prn_irq为中断标志寄存器   D0位字车电机中断
 **     D0位   字车电机中断标志位   1:发生中断    0：没有中断   
 **     D1位   给纸电机中断标志位   1:发生中断    0：没有中断
 **     D2位   字车电机data2中断标志位   1:发生中断    0：没有中断
 
 **
 *******************************************************************/
#define __prn_cmotor_irq_mask()			\
do {						\
	prn_irq |= 0x01;			\// D0位置1
	REG8(PRN_STATUS_REG) = prn_irq;		\//REG8(abc)表示abc地址值
	udelay(1);				\
} while (0)

#define __prn_cmotor_irq_unmask()		\
do {						\
	prn_irq &= ~0x01;			\// D0位置0
	REG8(PRN_STATUS_REG) = prn_irq;		\
	udelay(1);				\
} while (0)


#define __prn_cmotor_data2irq_mask()		\
do {						\
	prn_irq |= 0x04;			\
	REG8(PRN_STATUS_REG) = prn_irq;		\
	udelay(1);				\
} while (0)

#define __prn_cmotor_data2irq_unmask()		\
do {						\
	prn_irq &= ~0x04;			\
	REG8(PRN_STATUS_REG) = prn_irq;		\
	udelay(1);				\
} while (0)


#define __prn_pmotor_irq_mask()			\
do {						\
	prn_irq |= 0x02;			\
	REG8(PRN_STATUS_REG) = prn_irq;		\
	udelay(1);				\
} while (0)

#define __prn_pmotor_irq_unmask()		\
do {						\
	prn_irq &= ~0x02;			\
	REG8(PRN_STATUS_REG) = prn_irq;		\
	udelay(1);				\
} while (0)

#define __prn_irq_mask()			\
do {			
	prn_irq |= 0x07;			\//有中断发生D2D1D0 置111 有中断发生
	REG8(PRN_STATUS_REG) = prn_irq;		\
	udelay(1);				\
} while (0)

#define __prn_pin_init()			\
do {						\
	__gpiob_as_intr(7);			\///??????????
	__gpiob_set_irq_high_level(7);		\
	udelay(1);				\
} while(0)



/*******************************************************************
 **
 **
 *******************************************************************/
#define PRN_IRQ INTC_IRQ7

#else

#error "Not supported platform"

#endif
//电流标志
static unsigned char off_i = 0x0c;
static unsigned char hold_i = 0x08;
static unsigned char prun_i  = 0x00;//给纸电机运行电流标志
static unsigned char crun_i  = 0x00;//字车电机运行电流标志

static volatile unsigned int cmotor_step = 0x80000000; /*volatile 在每次访问时，其值被重载  */
static volatile unsigned int pmotor_step = 0x80000000;

static volatile unsigned char prn_state;

static volatile unsigned char cmotor_direction = 0;
static volatile unsigned char pmotor_direction = 0;
static volatile unsigned int pmotor_steps;

static unsigned char cmotor_const_param = 0;

#define PRN_RST0             0x10  //
#define PRN_RST1             0x20
#define PRN_STANDBY          0x30	//	
#define PRN_BLACKMARK        0x40   	//黑标
#define PRN_NEWLINE          0x50   	//新行
#define PRN_PRINTING         0x60   	//正在打印
#define PRN_PAPERFETCH0      0x70
#define PRN_PAPERFETCH1      0x80
#define PRN_PAPERFETCH2      0x90

#define MOTOR_STAT_STOP      0x00
#define MOTOR_STAT_ACC       0x01
#define MOTOR_STAT_CONST     0x02
#define MOTOR_STAT_COIL      0x03	//？？？
#define MOTOR_STAT_DEC       0x04
#define MOTOR_STAT_WORKRUSH  0x05	//前rush	
#define MOTOR_STAT_HOLDRUSH  0x06	//后rush
#define MOTOR_STAT_STEP      0x07	//？？？

#define NPMOTOR              0x01
#define NCMOTOR              0x00
							//prn_state的
#define PRN_STATUS()         ((prn_state) & 0xf0)	//为高4位D7-D4
#define MOTOR_STATUS()       (((prn_state) & 0x0f) >> 1)//为低前3位D3-D1
#define MOTOR_NUM()          ((prn_state) & 0x01)       //位D0
#define DATA2INTERUPT()        ((prn_state) & 0x10)	//位D4
#define ENCODE_STATUS(prns, motors, motor)				\
do {									\
	prn_state = (prns) | ((motors) << 1) | ((motor) & 0x01);	\
} while (0)

static unsigned char prn_buffer[4096];

/*******************************************************************
 **
 **
 *******************************************************************/
static unsigned char motor_steps[] = { 0x00, 0x02, 0x03, 0x01 };//含义根据步数改变相位。
								//因为4步为一个周期
static unsigned char cmotor_acc[11] = {
	58, 28, 22, 19, 17, 16, 15, 15, 14, 13, 12
};

static unsigned char cmotor_dec[11] = {
	12, 13, 13, 14, 15, 17, 18, 21, 25, 32, 78
};

static unsigned char pmotor_acc[21] = {
	82, 54, 42, 35, 31, 28, 26, 24, 23, 21, 20, 19, 19, 18, 17, 17,
	16, 16, 15, 15, 15
};

static unsigned char pmotor_dec[3] = {
	15, 20, 29
};

static volatile unsigned int coil_counter = 0;


/*******************************************************************
 **  函数定义
 **
 *******************************************************************/
/* 通用函数定义 */
static void EI_vDelay(UINT16 uiNum);

/* 字车电机函数定义 */
static void EI_vCMworkrush(void); 
static void EI_vCMHoldrush(void);  
static void EI_vCMHold(void); 

static UINT8 EI_vCMIni(void);  
static void EI_vCMIniRun(UINT8 ucDir);
static void EI_vCMIniAcc(UINT8 ucDir);
static void EI_vCMIniConst(UINT8 ucDir，UINT16 uiNum，UINT8 ucTest);
static void EI_vCMIniDec(UINT8 ucDir);

static void EI_vCMRun(UINT8 ucDir,UINT16 uiNum);
static void EI_vCMAcc(UINT8 ucDir);
static void EI_vCMConst(UINT8 ucDir);
static void EI_vCMPrint(UINT8 ucDir);
static void EI_vCMLow(UINT8 ucDir);
static void EI_vCMDec(UINT8 ucDir);

static void



/* 给纸电机函数定义  */
static void EI_vPFRun(UINT8 ucDir,UINT16 uiNum);
static void EI_vPFworkrush(void); 
static void EI_vPFHoldrush(void);  
static void EI_vPFHold(void); 
static void EI_vPFAcc(UINT8 ucDir); 
static void EI_vPFConst(UINT8 ucDir); 
static void EI_vPFDec(UINT8 ucDir); 
static void EI_vPFLow(UINT8 ucDir); 


/* 打印机驱动控制端口层函数定义   */
static UINT8 EI_ucGetHPS(void);           //读HPS
static void EI_vCMProtI(UINT8 ucCur)		//CM电流保护
static void EI_vCMPhOut(UINT8 ucPhase);   //置CM相位
static void EI_vCMIOut(UINT8 ucCur);     //置CM电流
static void EI_vSetTimer20(ucTime);      //置Timer20比较器时间
static UINT8 EI_ucGetTimer20(void)

static void EI_vCMIOut		字车电机电流输出
static void EI_vSetTimer20		置Timer20




/*****************************************************************
 * 字车电机初始化各状态函数
 *****************************************************************/
//宏定义
#define  EM_RushTime      //电机Rush时间
                          // M-U110Ⅱ＋：5ms；M-U110：6ms；MU-130：6ms
#define  EM_CMIniAorDStp //字车电机初始化时最大加、减步数
#define  EM_CMIniConTime //字车电机初始化时匀速时间
                         // M-U110Ⅱ＋：1.05ms；M-U110：1.05ms；MU-130：0.91ms
                          
//全局变量定义
static UINT8 EG_MotorPh[4] = { 0x00, 0x02, 0x03, 0x01 };						
static UINT8 EG_CMIniAccTM[10] = {58, 28, 22, 19, 17, 16, 15, 15, 14, 13, 12};
static UINT8 EG_CMIniDecTM[10] = {12, 13, 13, 14, 15, 17, 18, 21, 25, 32, 78};
static UINT8 EG_CMDir
static UINT16 EG_CMNum=0x80000000   //字车电机位置                      

static UINT8 EI_vCMIni(void)
{
	UINT16 uiR=0;
	if (!EI_ucGetHPS()) {
		EI_vCMworkrush();	
		EI_vCMIniAcc(1);
		uiR = EI_vCMIniConst(1,240, 1);
		if (uiR==240){
			print("Error: CM can not reset home position!\n");
		  return EM_ERR;
		}
		EI_vCMIniConst(1, 22-EM_CMIniAorDStp, 0) 
		EI_vCMIniDec(1);
		EI_vCMHoldrush();	
		EI_vCMHold();	
	}
	EI_vCMworkrush();	
	EI_vCMIniAcc(0);
	EI_vCMIniConst(0, 32, 0)
	EI_vCMIniDec(0);
	EI_vCMHoldrush();	
	EI_vCMHold();
	if (EI_ucGetHPS()){
			print("Error: CM can not reset home position!\n");
		  return EM_ERR;
		}	
	EI_vCMworkrush();	
	EI_vCMIniAcc(1);
	uiR = EI_vCMIniConst(1,32,1);
	if (uiR==32){
	print("Error: CM can not reset home position!\n");
	return EM_ERR;
		}
	EI_vCMIniConst(1,12, 0) 
	EI_vCMIniDec(1);
	EI_vCMHoldrush();	
	EI_vCMHold();
	if(EG_PaperType)    //
		EG_CMNum=358;
	else
		EG_CMNum=420;	
	return EM_OK;
}                          

static void EI_vCMIniAcc(UINT8 ucDir);
{ 
	INT8 ucTime;
	INT8 ucPhase;
	INT8 cStep = (ucDir) ? 1 : -1; 
	UINT16 uiI;
	for (ucI=0;uiI<EM_CMIniAorDStp;uiI++) {        
		EG_CMNum += cStep;
		ucTime = EG_CMIniAccTM[uiI];
		ucPhase = EG_MoterPh[EG_CMNum % 4];//
	EI_vSetTimer20(ucTime);
	EI_vCMPhOut(ucPhase);
	while (!EI_ucGetTimer20())  //查询中断方式
		EI_vDelay(500);
	}
}
//初始化匀速阶段
static UINT16 EI_vCMIniConst(UINT8 ucDir，UINT16 uiNum，UINT8 ucTest)
{
	INT8 ucTime;
	INT8 ucPhase;
	INT8 cStep = (ucDir) ? 1 : -1; 
	UINT16 uiI;
	for (ucI=0;uiI<uiNum;uiI++) {
		if ((ucTest == 1) && (EI_vGetHPS()))	  
			return ucI;                                
		else if ((ucTest == 2) && (EI_vGetHPS())) 
			return ucI;
		EG_CMNum += cStep;
		ucTime = EM_CMIniConTime;
		ucPhase = EG_MoterPh[EG_CMNum % 4];
	  EI_vSetTimer20(ucTime);
	  EI_vCMPhOut(ucPhase);
	}
	return uiNum;  
}
//初始化减速阶段
static void EI_vCMIniDec(UINT8 ucDir)
{
	INT8 ucTime;
	INT8 ucPhase;
	INT8 cStep = (ucDir) ? 1 : -1; 
	UINT16 uiI;
	for (ucI=0;uiI<EM_CMIniAorDStp;uiI++) {        
		EG_CMNum += cStep;
		ucTime = EG_CMIniDecTM[uiI];
		ucPhase = EG_MoterPh[EG_CMNum % 4];//
	EI_vSetTimer20(ucTime);
	EI_vCMPhOut(ucPhase);
 }
	return;
}
static void arca_prn_hp_hold(void)
{
	unsigned char port2;

	port2 = hold_i | motor_steps[cmotor_step % 4]; //must hold motor state  hold_i = 0x08
	while (!__prn_cmotor_ready())
		udelay(500);
	REG8(PRN_CMOTOR_PORT2) = port2;
        udelay (12000);
	return;
}
/*******************************************************************
 **
 **此rush函数用于减速或慢速后的rush状态
 *******************************************************************/
static void arca_prn_hold_rush(void)
{
	unsigned char port2;
	port2 = crun_i | motor_steps[cmotor_step % 4]; //must hold motor state
	while (!__prn_cmotor_ready())//REG8(PRN_STATUS_REG) & STATUS_CMOTOR_READY
		udelay(500);
	REG8(PRN_CMOTOR_PORT2) = port2;
        udelay (6000);
	return;
}

/*******************************************************************
 **
 **此rush函数用于加速或慢速前的rush状态，改变电流
 *******************************************************************/
static void arca_prn_work_rush(void)
{
	unsigned char port2;
	port2 = crun_i | motor_steps[cmotor_step % 4];  //must hold motor state
	while (!__prn_cmotor_ready())
		udelay(500);
	REG8(PRN_CMOTOR_PORT2) = port2;
        udelay (6000);
	return;
}

/*******************************************************************
 **
 **