基于步进电机在LINUX平台下的调试(之二)

    之前在用户空间用操作ｇｐｉｏ实现完整的步进电机的控制功能.下面将其挪到底层去,顺便总结下驱动所用到的知识点.

驱动源码:

/*
 *  Copyright (c) 2014-5-15 SE7EN
 *
 *  Four phases step motor support
 */

/*
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 */

#include <linux/init.h>
#include <linux/module.h>
#include <linux/cdev.h>
#include <linux/types.h>
#include <linux/device.h>
#include <linux/fs.h>
#include <linux/kernel.h>
#include <linux/spinlock.h>
#include <linux/errno.h>
#include <linux/gpio.h>
#include <linux/interrupt.h>
#include <linux/timer.h>
#include <linux/delay.h>

#define DRIVER_VERSION "2014.05.15"
#define DRIVER_AUTHOR "SE7EN"
#define DRIVER_DESC "Four Phases StepMotor Driver"
#define DRIVER_LICENSE "GPL"

#define	DEVICE_NAME	"motor"
#define	MOTOR_MAJOR	173

#define	MOTOR_IOC_MAGIC	'm'
#define	MOTOR_IOCGETDATA	_IOR(MOTOR_IOC_MAGIC,1,int)
#define	MOTOR_IOCSETDATA	_IOW(MOTOR_IOC_MAGIC,2,int)
#define	MOTOR_IOCSETLEFT	_IOW(MOTOR_IOC_MAGIC,3,int)
#define	MOTOR_IOCSETRIGHT	_IOW(MOTOR_IOC_MAGIC,4,int)
#define	MOTOR_IOC_MAXNR		4

#define	DEF_PULSE	2500
#define	PHASE_A		GPIO_PE(20)
#define	PHASE_B		GPIO_PE(21)
#define	PHASE_C		GPIO_PE(22)
#define	PHASE_D		GPIO_PE(29)
#define DIRECTION_L    	GPIO_PB(2)
#define DIRECTION_R	GPIO_PA(29)

#define	THOUSAND_US	1000000

/* debug macros */
#define DEBUG	1

#ifdef DEBUG
#define DPRINTK(fmt,args...) printk(fmt,##args)
#else
#define DPRINTK(fmt,args...)
#endif


typedef struct _stepMotorInfo
{
	uint openCnt;
	uint pulse;
	uint phase_a;
	uint phase_b;
	uint phase_c;
	uint phase_d;
	uint direction_left;
	uint direction_right;
	uint irqCntLeft;
	uint irqCntRight;
	spinlock_t lock;
	struct semaphore sem;
	struct tasklet_struct tasklet_left;
	struct tasklet_struct tasklet_right;
	struct class *class;
	struct cdev cdev;
}stepMotorInfo,*pstepMotorInfo;

stepMotorInfo motor;

static int motor_major = MOTOR_MAJOR;

MODULE_AUTHOR(DRIVER_AUTHOR);
MODULE_DESCRIPTION(DRIVER_DESC);
MODULE_LICENSE(DRIVER_LICENSE);
MODULE_VERSION(DRIVER_VERSION);

static irqreturn_t motorTurnLeftHandle(int irq,void *dev_id)
{

	pstepMotorInfo pMotor = (pstepMotorInfo)dev_id;

	tasklet_schedule(&pMotor->tasklet_left);

	return IRQ_HANDLED;
}

static irqreturn_t motorTurnRightHandle(int irq,void *dev_id)
{

	pstepMotorInfo pMotor = (pstepMotorInfo)dev_id;	

	tasklet_schedule(&pMotor->tasklet_right);

	return IRQ_HANDLED;
}



//A->AB->B->BC->C->CD->D->DA->A
static void stepMotorTurnLeft(pstepMotorInfo motor)
{
	//->A
	gpio_direction_output(motor->phase_b,0);
	gpio_direction_output(motor->phase_c,0);
	gpio_direction_output(