基于 platform 平台的驱动框架

基于 platform 平台的驱动框架实现

实现步进电机的驱动

一套驱动支持多个设备

软件环境：Linux-3.5内核 

硬件环境：FriendlyArm Tiny4412 开发板 / Exynos 4412 SOC / ARM cortex A9

Makefile

obj-m		:= window_dev.o door_dev.o bj_drv.o

MYKERNEL	:= /home/flyme/soc/linux-3.5-millet/

all: bjioctl.h
	make -C $(MYKERNEL) M=`pwd` modules
	sudo cp bj_drv.ko window_dev.ko door_dev.ko /fsroot

clean:
	make -C $(MYKERNEL) M=`pwd` clean 

bjioctl.h

#ifndef _BJ_H_
#define _BJ_H_

#define BJMAC 'J'

#define BJCW   _IOW(BJMAC, 0, int)
#define BJCCW  _IOW(BJMAC, 1, int)
#define BJSTOP _IOW(BJMAC, 2, int)

#endif // _BJ_H_

door_dev.c

#include 
     
     
      
      
#include 
      
      
       
       
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               static void door_release (struct device* pdev) { } static struct resource devsrc[] = { { .start = EXYNOS4_GPB(4), .end = EXYNOS4_GPB(7), .flags = IORESOURCE_MEM, .name = "door_base", }, }; static struct platform_device door_dev = { .resource = devsrc, .id = 1, .num_resources = ARRAY_SIZE(devsrc), .name = "door_motor", .dev = { .release = door_release, }, }; module_driver(door_dev, platform_device_register, platform_device_unregister); MODULE_LICENSE("GPL"); MODULE_AUTHOR("wanghaomaker"); MODULE_VERSION("door motor 3.0"); MODULE_DESCRIPTION("It is a motor device module for door"); 
              
             
            
           
         
        
        
       
       
      
      
     
     

window_dev.c

#include 
    
    
     
     
#include 
     
     
      
      
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              static void window_release (struct device* pdev) { } static struct resource devsrc[] = { { .start = EXYNOS4_GPJ0(3), .end = EXYNOS4_GPJ0(6), .flags = IORESOURCE_MEM, .name = "window_base", }, }; static struct platform_device window_dev = { .resource = devsrc, .id = 0, .num_resources = ARRAY_SIZE(devsrc), .name = "window_motor", .dev = { .release = window_release, }, }; module_driver(window_dev, platform_device_register, platform_device_unregister); MODULE_LICENSE("GPL"); MODULE_AUTHOR("wanghaomaker"); MODULE_VERSION("window motor 3.0"); MODULE_DESCRIPTION("It is a motor device module for window"); 
             
            
           
          
        
       
       
      
      
     
     
    
    

bj_drv.c

#include 
     
     
      
      
#include 
      
      
       
       
#include 
       
       
        
        
#include 
        
        
         
         
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                 #include 
                
                  #include 
                 
                   #include "bjioctl.h" #define STEP ARRAY_SIZE(beat_code) #define DEVCNT 2 /* #define BJBASE 0x11400000 // GPJ0base #define BJCON 0x0240 // GPJ0con #define BJDAT 0x0244 // GPJ0dat */ enum { OFF, ON }; static unsigned char beat_code[] = { // 步进电机节拍对应的 IO 控制代码 0x09, 0x03, 0x06, 0x0C }; /* static unsigned char beat_code[] = { // 步进电机节拍对应的 IO 控制代码 0x09, 0x01, 0x03, 0x02, 0x06, 0x04, 0x0C, 0x08 }; */ static int msec = 5; static int enperied = 1; static int major = 50; struct motor { u32 start; u32 end; int minor; long beats; struct cdev cdev; struct class *class; struct timer_list timer; }; struct motor motor[DEVCNT]; /* static u32 start = 0; static u32 end = 0; static int devnum = 0; static struct cdev cdev; static struct class *class = NULL; static struct timer_list timer; */ static void set_mytimer(int minor, u32 sec); static void service_timer(unsigned long data); static void motor_start(int minor, signed long angle); static void motor_stop(int minor); static int motor_turn(int minor); static void service_timer(unsigned long data) { int minor = (int)data; if (enperied) mod_timer(&motor[minor].timer, jiffies + msec*HZ/1000); if (motor_turn(minor)) enperied = 0; } static void set_mytimer(int minor, u32 sec) { setup_timer(&motor[minor].timer, service_timer, (unsigned long)minor); motor[minor].timer.expires = jiffies + sec*HZ/1000; add_timer(&motor[minor].timer); } static long my_unlocked_ioctl(struct file *filp, unsigned int cmd, unsigned long arg) { int minor = ((struct motor *)filp->private_data)->minor; if (arg < 0) return -EINVAL; if (_IOC_TYPE(cmd) == BJMAC) { switch (_IOC_NR(cmd)) { default: return -EINVAL; case 0: motor_start(minor, arg); break; case 1: motor_start(minor, -1 * arg); break; case 2: motor_stop(minor); break; } } return 0; } static int my_open (struct inode *inodp, struct file *filp) { filp->private_data = container_of(inodp->i_cdev, struct motor, cdev); return 0; } static int my_release (struct inode *inodp, struct file *filp) { return 0; } static struct file_operations fops = { .owner = THIS_MODULE, .open = my_open, .unlocked_ioctl = my_unlocked_ioctl, .release = my_release, }; static int bj_probe(struct platform_device *pdev) { int ret; int i = 0; int devnum = 0; struct resource *pres; struct device *device = NULL; struct class *class = NULL; motor[pdev->id].minor = pdev->id; printk("--- driver %d device ---\n", pdev->id); pres = platform_get_resource(pdev, IORESOURCE_MEM, 0); motor[pdev->id].start = pres->start; motor[pdev->id].end = pres->end; class = class_create(THIS_MODULE, pdev->name); if (IS_ERR(class)) return PTR_ERR(class); printk("--- class create %s ---\n", pdev->name); for (i = pres->start; i <= pres->end; i++) { if ((ret = gpio_request(i, "motor")) < 0) goto error0; gpio_direction_output(i, OFF); } printk("--- %d gpio request ---\n", pres->start); devnum = MKDEV(major, pdev->id); printk("--- devnum is %d ---\n", devnum); ret = register_chrdev_region(devnum, 1, pdev->name); if (ret < 0) { ret = -EINVAL; goto error0; } printk("--- register %d ---\n", devnum); cdev_init(&motor[pdev->id].cdev, &fops); if ((ret = cdev_add(&motor[pdev->id].cdev, devnum, 1)) < 0) goto error1; printk("--- cdev add %d ---\n", devnum); device = device_create(class, NULL, devnum, NULL, pdev->name); if (IS_ERR(device)) { ret = PTR_ERR(device); goto error2; } motor[pdev->id].class = class; printk("--- device create %s ok! ---\n", pdev->name); return 0; error2: cdev_del(&motor[pdev->id].cdev); error1: unregister_chrdev_region(devnum, 1); error0: class_destroy(class); for ( ; i >= pres->start; i--) gpio_free(i); return ret; } static int bj_remove(struct platform_device *pdev) { int i = 0; int devnum = 0; struct resource *pres; struct class *class = motor[pdev->id].class; pres = platform_get_resource(pdev, IORESOURCE_MEM, 0); devnum = MKDEV(major, pdev->id); device_destroy(class, devnum); cdev_del(&motor[pdev->id].cdev); for (i = pres->start; i <= pres->end; i++) gpio_free(i); cdev_del(&motor[pdev->id].cdev); unregister_chrdev_region(devnum, 1); class_destroy(class); printk("--- cdev %s die! ---\n", pdev->name); return 0; } static struct platform_device_id millet_tables[] = { { "door_motor", }, { "window_motor", }, }; static struct platform_driver bj_drv = { .id_table = millet_tables, .driver= { .name = "bj_motor", }, .probe = bj_probe, .remove = bj_remove, }; module_platform_driver(bj_drv); static void motor_start(int minor, signed long angle) { motor[minor].beats = (angle * 4076 / 2) / 360; // 实测为 4076 拍转动一圈 set_mytimer(minor, msec); enperied = 1; } static void motor_stop(int minor) { motor[minor].beats = 0; del_timer_sync(&motor[minor].timer); enperied = 1; } static int motor_turn(int minor) { int i = 0, j = 0; int ret = 0; static unsigned char index[DEVCNT] = {0}; long beats[DEVCNT] = {0}; beats[minor] = motor[minor].beats; if (beats[minor] != 0) { if (beats[minor] > 0) { index[minor]++; index[minor] = index[minor] & (STEP - 1); // (STEP==4)?0x3:0x7 motor[minor].beats--; } else { index[minor]--; index[minor] = index[minor] & (STEP - 1); motor[minor].beats++; } for (i = motor[minor].start, j = 0; i <= motor[minor].end; i++, j++) { if (beat_code[index[minor]] & (0x1 << j)) gpio_set_value(i, ON); else gpio_set_value(i, OFF); } ret = 0; } else ret = 1; return ret; } MODULE_LICENSE("GPL"); MODULE_AUTHOR("wanghaomaker"); MODULE_VERSION("bj motor 3.0"); MODULE_DESCRIPTION("It is a motor driver module");