在其Linux源码中,和这个平台相关的代码主要在arch/arm/mach-s3c2410和include/asm-arm/arch-s3c2410
Linux对I/O的操作都定义在asm/io.h中,相应的在arm平台下,就在asm-arm/io.h中。
#include <linux/module.h>
#include <linux/kernel.h>
#include <linux/fs.h>
#include <linux/init.h>
#include <linux/delay.h>
#include <linux/poll.h>
#include <linux/interrupt.h>
#include <linux/gpio.h>
#include <asm/irq.h>
#include <asm/io.h>//__raw_readl
#include <asm/uaccess.h>
#include <mach/regs-gpio.h>
#include <mach/hardware.h>
#include <plat/regs-timer.h>//s3c2440定时器所有寄存器定义
#include <mach/regs-irq.h>
#include <asm/mach/time.h>
#include <linux/clk.h>//为系统提供时钟频率
#include <linux/cdev.h>
#include <linux/device.h>
#include <linux/miscdevice.h>
#define DEVICE_NAME "pwm"//设备名
#define PWM_IOCTL_SET_FREQ 1
#define PWM_IOCTL_STOP 0
//保护临界区,只有获得信号量,才能访问临界资源
static struct semaphore lock;//定义信号量,当无法获取,进入休眠
//定时器输入时钟频率=pclk/prescale+1/divider
//tcnt计数值,通过这两个,可以算出多长时间发生定时中断
/* freq: pclk/50/16/65536 ~ pclk/50/16
* if pclk = 50MHz, freq is 1Hz to 62500Hz
* human ear : 20Hz~ 20000Hz
*/
static void PWM_Set_Freq( unsigned long freq )
{
unsigned long tcon;//定时控制寄存器,设置,自动重装,死区允许,自动更新,启动定时器,反相器等
unsigned long tcnt;//定时计数器
unsigned long tcfg1;//定时配置寄存器,获得divider
unsigned long tcfg0;//定时配置寄存器,获得prescale
struct clk *clk_p;
unsigned long pclk;
//set GPB0 as tout0, pwm output,设置GPB0为PWM0输出端口
s3c2410_gpio_cfgpin(S3C2410_GPB(0), S3C2410_GPB0_TOUT0);
tcon = __raw_readl(S3C2410_TCON);//定时器控制寄存器,__raw_readl是I/O映射,是内核访问硬件的一种方式,还有一种是内存映射
tcfg1 = __raw_readl(S3C2410_TCFG1);//定时器配置寄存器
tcfg0 = __raw_readl(S3C2410_TCFG0);//取出原始的寄存器的值
//prescaler = 50
tcfg0 &= ~S3C2410_TCFG_PRESCALER0_MASK;//输出低电平,清除掉tcfg0之前的寄存器配置
//S3C2410_TCFG_PRESCALER0_MASK=0xff,定义在arch/arm/plat-s3c/include/plat/regs-timer.h
tcfg0 |= (50 - 1);
//mux = 1/16
tcfg1 &= ~S3C2410_TCFG1_MUX0_MASK;
tcfg1 |= S3C2410_TCFG1_MUX0_DIV16;
__raw_writel(tcfg1, S3C2410_TCFG1);//把新配置的寄存器值写入进去
__raw_writel(tcfg0, S3C2410_TCFG0);
clk_p = clk_get(NULL, "pclk");//为系统提供时钟频率
pclk = clk_get_rate(clk_p);
tcnt = (pclk/50/16)/freq;
__raw_writel(tcnt, S3C2410_TCNTB(0));
__raw_writel(tcnt/2, S3C2410_TCMPB(0));//把新配置的寄存器值写入进去
//配置定时器
tcon &= ~0x1f;
tcon |= 0xb; //disable deadzone, auto-reload, inv-off, update TCNTB0&TCMPB0, start timer 0
__raw_writel(tcon, S3C2410_TCON);
tcon &= ~2; //clear manual update bit
__raw_writel(tcon, S3C2410_TCON);
}
static void PWM_Stop(void)
{
s3c2410_gpio_cfgpin(S3C2410_GPB(0), S3C2410_GPIO_OUTPUT);
s3c2410_gpio_setpin(S3C2410_GPB(0), 0);
}
static int s3c24xx_pwm_open(struct inode *inode, struct file *file)
{//尝试获得信号量,如果能立即获得,获得信号量并返回0,否则返回非0,
//不会导致调用者睡眠,可以在中断上下文使用。
if (!down_trylock(&lock))
return 0;//成功
else
return -EBUSY;//设备忙
}
static int s3c24xx_pwm_close(struct inode *inode, struct file *file)
{
PWM_Stop();
up(&lock);//释放信号量,唤醒等待者
return 0;
}
static int s3c24xx_pwm_ioctl(struct inode *inode, struct file *file, unsigned int cmd, unsigned long arg)
{
//printk("ioctl pwm: %x %lx\n", cmd, arg);
switch (cmd) {
case PWM_IOCTL_SET_FREQ:
if (arg == 0)
return -EINVAL;
PWM_Set_Freq(arg);
break;
case PWM_IOCTL_STOP:
PWM_Stop();
break;
}
return 0;
}
static struct file_operations dev_fops = {
.owner = THIS_MODULE,
.open = s3c24xx_pwm_open,
.release = s3c24xx_pwm_close,
.ioctl = s3c24xx_pwm_ioctl,
};
static struct miscdevice misc = {
.minor = MISC_DYNAMIC_MINOR,
.name = DEVICE_NAME,
.fops = &dev_fops,
};
static int __init dev_init(void)
{
int ret;
init_MUTEX(&lock);//初始化互斥信号量
ret = misc_register(&misc);//注册设备号
printk (DEVICE_NAME"\tinitialized\n");
return ret;
}
static void __exit dev_exit(void)
{
misc_deregister(&misc);
}
module_init(dev_init);
module_exit(dev_exit);
MODULE_LICENSE("GPL");
MODULE_AUTHOR("FriendlyARM Inc.");
MODULE_DESCRIPTION("S3C2410/S3C2440 PWM Driver");
测试程序
#include <stdio.h>
#include <termios.h>
#include <unistd.h>
#include <stdlib.h>
#define PWM_IOCTL_SET_FREQ 1
#define PWM_IOCTL_STOP 0
#define ESC_KEY 0x1b
static int getch(void)
{
struct termios oldt,newt;
int ch;
if (!isatty(STDIN_FILENO)) {
fprintf(stderr, "this problem should be run at a terminal\n");
exit(1);
}
// save terminal setting
if(tcgetattr(STDIN_FILENO, &oldt) < 0) {
perror("save the terminal setting");
exit(1);
}
// set terminal as need
newt = oldt;
newt.c_lflag &= ~( ICANON | ECHO );
if(tcsetattr(STDIN_FILENO,TCSANOW, &newt) < 0) {
perror("set terminal");
exit(1);
}
ch = getchar();
// restore termial setting
if(tcsetattr(STDIN_FILENO,TCSANOW,&oldt) < 0) {
perror("restore the termial setting");
exit(1);
}
return ch;
}
static int fd = -1;
static void close_buzzer(void);
static void open_buzzer(void)
{
fd = open("/dev/pwm", 0);
if (fd < 0) {
perror("open pwm_buzzer device");
exit(1);
}
// any function exit call will stop the buzzer
atexit(close_buzzer);
}
static void close_buzzer(void)
{
if (fd >= 0) {
ioctl(fd, PWM_IOCTL_STOP);
close(fd);
fd = -1;
}
}
static void set_buzzer_freq(int freq)
{
// this IOCTL command is the key to set frequency
int ret = ioctl(fd, PWM_IOCTL_SET_FREQ, freq);
if(ret < 0) {
perror("set the frequency of the buzzer");
exit(1);
}
}
static void stop_buzzer(void)
{
int ret = ioctl(fd, PWM_IOCTL_STOP);
if(ret < 0) {
perror("stop the buzzer");
exit(1);
}
}
int main(int argc, char **argv)
{
int freq = 1000 ;
open_buzzer();
printf( "\nBUZZER TEST ( PWM Control )\n" );
printf( "Press +/- to increase/reduce the frequency of the BUZZER\n" ) ;
printf( "Press 'ESC' key to Exit this program\n\n" );
while( 1 )
{
int key;
set_buzzer_freq(freq);
printf( "\tFreq = %d\n", freq );
key = getch();
switch(key) {
case '+':
if( freq < 20000 )
freq += 10;
break;
case '-':
if( freq > 11 )
freq -= 10 ;
break;
case ESC_KEY:
case EOF:
stop_buzzer();
exit(0);
default:
break;
}
}
}