基于Z301P摄像头 H.264OK6410的远程视频web监控 项目笔记5(小车驱动)GPIO控制

本文代码转载请注明转自http://blog.csdn.net/jinatom/article/details/7756694

小车驱动

//cardev.c
#include <linux/module.h>
#include <linux/init.h>  
#include <linux/kernel.h>  
#include <linux/fs.h>  
  
#include <linux/miscdevice.h>   
#include <linux/cdev.h>  
#include <linux/ioctl.h>  
  
#include</home/linux-3.0.1/arch/arm/mach-s3c64xx/include/mach/gpio.h>  
#include </home/linux-3.0.1/arch/arm/plat-samsung/include/plat/gpio-cfg.h>  
  
#include "cardev.h"  
  
static unsigned long CAR[] =  
{  
    S3C64XX_GPC(0),  
    S3C64XX_GPC(1),    
};  
  
static long s3c6410_car_ioctl(  
        struct file *filp,   
        unsigned int cmd,   
        unsigned long arg)  
{  
    //check the cmd  
    if(_IOC_TYPE(cmd) != CAR_CMD_MAGIC)  
    {  
        return -EINVAL;  
    }  
    if((_IOC_NR(cmd) + 1) > CAR_CMD_MAX)  
    {  
        return -EINVAL;  
    }  
  
    //check the arg  
    if (arg > 2)   
    {  
        return -EINVAL;  
    }  
  
    switch(cmd)   
    {  
    case CAR_CMD_ON:  
        gpio_set_value(CAR[arg],CAR_ON);  
        printk("CAR is ON\n",arg);  
        return 0; 
    case CAR_CMD_LEFT:  
        gpio_set_value(CAR[0],CAR_ON);  
        gpio_set_value(CAR[1],CAR_OFF);
        printk("TURN LEFT\n",arg);  
        return 0; 
    case CAR_CMD_RIGHT:  
        gpio_set_value(CAR[0],CAR_OFF);  
        gpio_set_value(CAR[1],CAR_ON);
 
        printk("TURN RIGHT\n",arg);  
        return 0; 
    case CAR_CMD_OFF:  
        gpio_set_value(CAR[arg],CAR_OFF);  
        printk("CAR is OFF\n",arg);    
        return 0;  
    default:  
        return -EINVAL;  
    }  
}  
  
static struct file_operations dev_fops = {  
    .owner          = THIS_MODULE,  
    .unlocked_ioctl = s3c6410_car_ioctl,  
};  
  
static struct miscdevice misc = {  
    .minor = MISC_DYNAMIC_MINOR,  
    .name = DEVICE_NAME,  
    .fops = &dev_fops,  
};  
  
static int s3c6410_car_init(void)  
{  
    int ret;  
    int i;  
  
    //gpio init  
    for(i = 0;i < 2; i ++)  
    {  
        //car[0-1]pull up  
        s3c_gpio_setpull(CAR[i],S3C_GPIO_PULL_UP);  
        //car[0-1]config output and turn off all CARS  
        gpio_direction_output(CAR[i],CAR_OFF);  
    }  
  
    //register micdevice  
    ret = misc_register(&misc);  
    printk (DEVICE_NAME"\tinitialized\n");  
  
    return ret;  
}  
  
static void s3c6410_car_exit(void)  
{  
    misc_deregister(&misc);  
    printk (DEVICE_NAME"\tremoved\n");  
}  
  
module_init(s3c6410_car_init);  
module_exit(s3c6410_car_exit);   
MODULE_AUTHOR("jinatom");
MODULE_LICENSE("GPL");

头文件

//cardev.h


#ifndef CARDEV_H_  
#define CARDEV_H_  
  
#include <linux/ioctl.h>  
  
#define DEVICE_NAME "cardev"  
#define CAR_ON 1  
#define CAR_OFF 0  
//ioctl命令的定义  
#define CAR_CMD_MAGIC 'G'  
#define CAR_CMD_ON	_IOW(CAR_CMD_MAGIC,0,int)  
#define CAR_CMD_OFF	_IOW(CAR_CMD_MAGIC,1,int)  
#define CAR_CMD_LEFT	_IOW(CAR_CMD_MAGIC,2,int)
#define CAR_CMD_RIGHT	_IOW(CAR_CMD_MAGIC,3,int)
#define CAR_CMD_MAX 2  
  
#endif  

makefile文件

obj-m := cardev.o
mymodule-objs:=module
#设置内核地址
KERNELDIR := /home/linux-3.0.1
CC=arm-unknown-linux-gnueabi-gcc
PWD := $(shell pwd)
default:
	$(MAKE) -C $(KERNELDIR) M=$(PWD) -I/home/linux-3.0.1/include/ modules
clean:
	@ rm *.o *.ko* *.mod* *.order *.symvers -rf

测试程序

#include <stdio.h>  
#include <stdlib.h>  
#include <unistd.h>  
#include <sys/ioctl.h>  
#include "cardev.h"  
  
int main(int argc, char **argv)  
{  
    int on;  
    int car_no;  
    int fd;  
      
    //check the ags number  
    if (argc != 3)   
    {  
        fprintf(stderr, "please input two args\n");  
        exit(1);  
    }  
    //check the first arg  
    if (sscanf(argv[1],"%d", &on) != 1 || on < 0 || on > 1)   
    {  
        fprintf(stderr, "The first arg can only be 0|1\n");  
        exit(1);  
    }  
    //check the second arg  
    if (sscanf(argv[2],"%d", &car_no) != 1 || car_no < 0 || car_no > 1)   
    {  
        fprintf(stderr, "The second arg can only be 0|1|n");  
        exit(1);  
    }  
  
    fd = open("/dev/cardev", 0);  
    if (fd < 0)   
    {  
        perror("can not open device car");  
        exit(1);  
    }  
    //exe cmd  
    if(on == 1)  
    {  
        ioctl(fd,CAR_CMD_ON,car_no);  
    }  
    else   
    {  
        ioctl(fd,CAR_CMD_OFF,car_no);  
    }  
    close(fd);  
    return 0;  
}