robot_face.c

机器人控制程序

/*
* system depend  file
*/
#include <linux/init.h>
#include <linux/config.h>
#include <linux/module.h>
#include <linux/moduleparam.h>
#include <linux/init.h>
#include <linux/sched.h>
#include <linux/kernel.h> /* printk() */
#include <linux/slab.h> /* kmalloc() */
#include <linux/fs.h> /* everything... */
#include <linux/errno.h> /* error codes */
#include <linux/types.h> /* size_t */
#include <linux/delay.h>
#include <linux/proc_fs.h>
#include <linux/fcntl.h> /* O_ACCMODE */
#include <linux/aio.h>
#include <asm/uaccess.h>
#include <asm/leds.h>
#include <linux/ioctl.h>
#include <linux/cdev.h>
#include <asm/semaphore.h>


#include <asm/arch/map.h>
#include <asm/arch/regs-timer.h>
#include <asm/arch/regs-irq.h>
#include <asm/arch/regs-gpio.h>


#define DEVFS_FL_DEFAULT 0x000
#define FACE_DEVNAME "robot_face"

#define FACE_MASK	0xFFFF       //GPD are all output
#define FACE_ADDR_MASK 0x003F	//GPE<5..0>=face addr

#define BIT_TIMER0     (0x1<<10)
#define BIT_TIMER1     (0x1<<11)
#define BIT_TIMER2     (0x1<<12)
#define BIT_TIMER3     (0x1<<13)
#define BIT_TIMER4     (0x1<<14)

static int nFaceMajor = 0;

extern devfs_mk_dir(const char *fmt,...);

int face_major =   0;
int face_devs =    1; /* number of bare face devices */

struct unit {
		struct semaphore lock;
		u32 	*GPD_CON;
		u32 	*GPD_DAT;
		u32 	*GPD_UP;
		u32 	*GPE_CON;
		u32 	*GPE_DAT;
		u32 	*GPE_UP;
		u32 	*TCFG0;
		u32 	*TCFG1;
		u32 	*TCON;
		u32 	*TCNTB;
		u32	*INTMSK;
		u32	*SRCPND;
		u32	*INTPND;
	};
	
static struct unit face_unit={
		.GPD_CON		=	(u32 *)S3C2410_GPDCON,
		.GPD_DAT		=	(u32 *)S3C2410_GPDDAT,
		.GPD_UP			=	(u32 *)S3C2410_GPDUP,
		.GPE_CON		=	(u32 *)S3C2410_GPECON,
		.GPE_DAT		=	(u32 *)S3C2410_GPEDAT,
		.GPE_UP			=	(u32 *)S3C2410_GPEUP,
		.TCFG0			=	(u32 *)S3C2410_TCFG0,
		.TCFG1			=	(u32 *)S3C2410_TCFG1,
		.TCON			=	(u32 *)S3C2410_TCON,
		.TCNTB			=	(u32 *)S3C2410_TCNTB(1),
		.INTMSK			=	(u32 *)S3C2410_INTMSK,
		.SRCPND			=	(u32 *)S3C2410_SRCPND,
		.INTPND			=	(u32 *)S3C2410_INTPND,
	};


void delay(int usecs)
{
	volatile int loops;

	for(loops = usecs * 12; loops > 0; loops--)
		/* nothing */;	
}

volatile int face_counter;
u16	face_tmp[40];//[0-15]:left eye; [16..31]:right eye;[32..39]:mouse

static irqreturn_t  Timer1Done(void)
	{
    		u32 temp;
    		int j;
   
   		//printk("t0\n"); 		
   		*face_unit.SRCPND=BIT_TIMER1;
   		*face_unit.INTPND=BIT_TIMER1;
   		*face_unit.INTPND;
   		
   		*face_unit.GPE_DAT=*face_unit.GPE_DAT & (~FACE_ADDR_MASK) | face_counter;//set face address
   		*face_unit.GPD_DAT=*face_unit.GPD_DAT & (~FACE_MASK) | face_tmp[face_counter];//set face value
   		face_counter++;
   		if(face_counter>=40) 
   			face_counter=0; 
	}
	
int face_open (struct inode *inode, struct file *file)
	{
		printk("open\n");
		file->private_data=&face_unit;
		
		*face_unit.INTMSK=*face_unit.INTMSK &  (~BIT_TIMER1) ;//enable init_timer1 
		*face_unit.TCON=*face_unit.TCON & ~(0x000f00) | 0x000900; //enable timer1
 		
 		
		return 0;          /* success */
	}
	
static int face_release_f (struct inode *inode, struct file *file)
	{
		//printk("release\n");
		
		return 0;
	}	



static ssize_t face_write (struct file *file, const char *buf, size_t count, loff_t *offset)
	{
		int j,ret;
		struct unit *unit=(struct unit *)file->private_data;
		
		ret=copy_from_user(face_tmp, buf, count) ? -EFAULT:count;
		
		
		return ret;	
	}


static struct file_operations face_ops = {
	.owner 		=	THIS_MODULE,
	.write 		=	face_write,
	.open 		=	face_open,
	.release 		=	face_release_f,
};

void face_init(void)
	{
    		int i,res;
    
   		#ifdef CONFIG_DEVFS_FS
			res= register_chrdev(0,FACE_DEVNAME, &face_ops);
			if(res<0)
				{
					printk("robot_face.o:unable to get major for face device.\n");
					return res;
				}
			
			//create the devfs: /driver/face/
			
			devfs_mk_dir(FACE_DEVNAME);
			devfs_mk_cdev(MKDEV(res,0),S_IFCHR | S_IRUSR |S_IWUSR, FACE_DEVNAME"/%d",0);
		#else
			res = register_chrdev(nFaceMajor, FACE_DEVNAME, &face_ops);
		#endif
		
		
		 
		//get the major number
		if(nFaceMajor==0)
			{
				nFaceMajor = res;
				printk("Face major number = %d.\n",nFaceMajor);
			}
		/*
		for (i=0;i<40;i++)
			face_tmp[i]=0xffff;
		*/	
		*face_unit.GPD_DAT=(*face_unit.GPD_DAT)&0x0;	
    		*face_unit.GPD_CON=(*face_unit.GPD_CON)&0x0 | 0x55555555;
    		*face_unit.GPD_UP=(*face_unit.GPD_UP) | 0xffff ;//disabled pull-up
    		
    		*face_unit.GPE_DAT=(*face_unit.GPE_DAT)  & (~FACE_ADDR_MASK) | 0x3;//not show
    		*face_unit.GPE_CON=(*face_unit.GPD_CON) & 0xFFFFF000 | 0x00000555; //GPE[5..0]=OUTPUT
    		*face_unit.GPE_UP=(*face_unit.GPD_UP) & 0xFFC0; //   GPE[5..0] pull up enabled
    		
    		face_counter=0; 
    		
		//*face_unit.GPD_DAT=face_unit.f;
     

   		int ret=request_irq(IRQ_TIMER1,Timer1Done,SA_INTERRUPT,FACE_DEVNAME,NULL);
   		*face_unit.INTMSK=*face_unit.INTMSK |  (BIT_TIMER1) ;//disable init_timer1
   		
    		if(ret)
    			 {
    				printk("IRQ_TIMER1: :could not register interrupt,ret=0x%X\n",ret);
   			 	return ret;
     			 }

    		printk("IRQ_TIMER1:  register interrupt succeed,ret=0x%X\n",ret);
    		
    		      		
      		*face_unit.TCFG0=*face_unit.TCFG0 & ~(0x0000ff) | 0x000000;
     		*face_unit.TCFG1=*face_unit.TCFG1 & ~(0x0000f0) | 0x000030;
     		
     		*face_unit.TCNTB=0x271; //5kHz
     		*face_unit.TCON=*face_unit.TCON & ~(0x000f00) | 0x000a00; 
     		//*face_unit.TCON=*face_unit.TCON & ~(0x000f00) | 0x000900; 
 		//printk("IRQ_TIMER1:  INTMSK=0x%X\n",*face_unit.INTMSK);
 		
 		
}

static void __exit face_exit(void)
	{
		int ret;
		free_irq(IRQ_TIMER1,FACE_DEVNAME);
		
		
		ret=unregister_chrdev(nFaceMajor, FACE_DEVNAME);
		if (ret<0)
		printk("error in module unregistering\n");
		
		printk("Out,Out.\n");
		//printk(KERN_ALERT "Out,Out.\n");
	}

module_init(face_init);
module_exit(face_exit);

MODULE_AUTHOR("JORRY");
MODULE_LICENSE("GPL");