stepmotor.c

这是pxa270的步进电机驱动程序

/* mgc270_stepmotor.c
   MagicARM270 Stepmotir driver. GUANGZHOU ZHIYUAN

   Copyright (c) 2006 GUANGZHOU ZHIYUAN ELECTRONICS CO.LTD
   By Chenxibing  <[e-mail]> 
*/

#include <linux/device.h>
#include <linux/fs.h>
#include <linux/module.h>
#include <linux/errno.h>
#include <linux/kernel.h>
#include <linux/init.h>
#include <linux/platform_device.h>
#include <asm/uaccess.h>
#include <linux/miscdevice.h>
#include <linux/types.h>

#include <asm/arch/hardware.h>
#include <asm/arch/pxa-regs.h>

#include <linux/delay.h>

// direction speed steps
static char ctrl[3];

spinlock_t lock;

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 int mgc270_stepmotor_release(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 released!\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
		{
	//		printk("ANTI CLOCKWISE!!\n");
			for( i = 0; i < 4; i++ )
			{
				GPCR2 |= 0x0F << 17;
				GPSR2 |= 3 << ( 17 + i );
				if( i == 3 )
					GPSR2 |= 1 << 17;
				mdelay((ctrl[1]-0x30)*10);
			}
		} else {	//clockwise
	//		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)*10);
			}
		}
	}

	spin_unlock_irqrestore(&lock, flags);

	return sizeof(ctrl);
}

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
};


static int mgc270_stepmotor_probe(struct platform_device *dev)
{
	int ret;

	printk("probing mgc270-stepmotor!\n");
	ret = misc_register(&mgc270_stepmotor_miscdev);
	if (ret)
		printk("Failed to register miscdev for MagicARM270 stepmotor.\n");

	return ret;
}

static int mgc270_stepmotor_remove(struct platform_device *dev)
{
	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,
        .remove  = mgc270_stepmotor_remove,
};


static int __init mgc270_stepmotor_init(void)
{
	int rc;

	printk("mgc270-stepmotor init......\n");
	mgc270_stepmotor_device = platform_device_alloc("mgc270-stepmotor", -1);
        if (!mgc270_stepmotor_device)
                return -ENOMEM;

	rc = platform_device_add(mgc270_stepmotor_device);
        if (rc < 0) {
                platform_device_put(mgc270_stepmotor_device);
                return rc;
        }

	rc = platform_driver_register(&mgc270_stepmotor_driver);
        if (rc < 0)
                platform_device_unregister(mgc270_stepmotor_device);

	spin_lock_init(&lock);

        return rc;	
}

static void __exit mgc270_stepmotor_exit(void)
{
        platform_driver_unregister(&mgc270_stepmotor_driver);
        platform_device_unregister(mgc270_stepmotor_device);
	printk("mgc270-stepmotor exit!\n");
}

module_init(mgc270_stepmotor_init);
module_exit(mgc270_stepmotor_exit);

MODULE_AUTHOR("Abing <[e-mail]>");
MODULE_DESCRIPTION("ZHIYUAN MagicARM270 stepmotor Driver");
MODULE_LICENSE("GPL");