需要用到的知识点:
A)linux内核延时函数,这里参考文章https://www.cnblogs.com/Ph-one/p/4678361.html
#include <linux/delay.h>
1、void ndelay(unsigned long nsecs); 纳秒级
2、void udelay(unsigned long usecs); 微秒级
3、void mdelay(unsigned long msecs); 毫秒级
udelay一般适用于一个比较小的delay,如果你填的数大于2000,系统会认为你这个是一个错误的delay函数,因此如果需要2ms以上的delay需要使用mdelay函数。
这里强调如果模拟pwm信号,不要去用init_timer定时器和hrtimer_init,即使是hrtimer_init可以到达纳秒级别。hrtimer_init模拟的pwm信号,用示波器查看方波图达不到很精准。
B)PWM信号
个人见解是一个方波图,类似下图,只不过pwm方波图的高低电平是可以控制的。
C)控制舵机的pwm方波图,这里参考文章https://blog.csdn.net/qq_38960810/article/details/83017629
其实pwm信号的周期不是很重要,关键是pwm方波图中高电平的时间(自己可以做实验,用pwm信号发生器去控制舵机,100HZ和200HZ都能控制转动的,只要控制它的高电平符合下面角度对应的毫秒即可)。
0.5ms--------------0度;
1.0ms------------45度;
1.5ms------------90度;
2.0ms-----------135度;
2.5ms-----------180度;
也就是说只要pwm方波图中的高电平有0.5ms,舵机转角度就为0,2.5ms的话就是180度。和周期没有直接关系。
调试中个人总结:
1:
控制舵机的pwm信号必须是一直持续的,比如你提供一个1ms的pwm信号给舵机,舵机能够转动到90度,
但是接着你不继续提供1ms的pwm信号,这时舵机虽然不会有啥变化,但是你用手去转动舵机是可以转动的,
反之持续的提供1ms的pwm信号,舵机是会一直保持90度,你就是用手去掰也不会转动的。千万不要只发一个周期的pwm方波信号。
2:
使用舵机过程中最好配备pwm信号发生器(淘宝有卖),手持示波器。这样方便调式找出问题。
下面是代码,代码是在JZ2440开发板基础上,只需要修改对应的GPIO口就行,这里要注意的是舵机转动到相应的角度其实也是需要一定的时间,不可能瞬间到达的,所以我们必须要延时一会,tdata变量就是用来延时的
#include <linux/module.h>
#include <linux/kernel.h>
#include <linux/fs.h>
#include <linux/init.h>
#include <linux/delay.h>
#include <asm/uaccess.h>
#include <asm/irq.h>
#include <asm/io.h>
#include <linux/ioctl.h>
#include <asm/arch/regs-gpio.h>
#include <asm/hardware.h>
#include <linux/hrtimer.h>
static struct timer_list buttons_timer;
static struct hrtimer timer;
ktime_t kt;
#define DEVICE_NAME "pwdtimer" /* 加载模式后,执行”cat /proc/devices”命令看到的设备名称 */
#define PWD_MAJOR 231 /* 主设备号 */
static struct class *pwd_class;
static struct class_device *pwd_class_devs;
/* bit0<=>D10, 0:亮, 1:灭
* bit1<=>D11, 0:亮, 1:灭
* bit2<=>D12, 0:亮, 1:灭
*/
static char leds_status = 0x0;
static DECLARE_MUTEX(leds_lock); // 定义赋值
//static int minor;
static unsigned long gpio_va;
#define GPIO_OFT(x) ((x) - 0x56000000)
#define GPFCON (*(volatile unsigned long *)(gpio_va + GPIO_OFT(0x56000050)))
#define GPFDAT (*(volatile unsigned long *)(gpio_va + GPIO_OFT(0x56000054)))
#define GPACON (*(volatile unsigned long *)(gpio_va))
#define GPADAT (*(volatile unsigned long *)(gpio_va))
/* 应用程序对设备文件/dev/leds执行open(...)时,
* 就会调用s3c24xx_pwd_open函数
*/
static int s3c24xx_pwd_open(struct inode *inode, struct file *file)
{
// 配置2引脚为输出
//s3c2410_gpio_cfgpin(S3C2410_GPF4, S3C2410_GPF4_OUTP);
GPFCON &= ~(0x3<<4);
GPFCON |= (1<<4);
GPFCON &= ~(0x3<<8);
GPFCON |= (1<<8);
// 都输出0
//s3c2410_gpio_setpin(S3C2410_GPF4, 0);
GPFDAT &= ~(1<<2);
GPFDAT &= ~(1<<4);
GPFDAT |= (1<<4);
GPFCON &= ~(0x3<<2);
GPFCON |= (1<<2);
GPFDAT &= ~(1<<1);
return 0;
}
static ssize_t s3c24xx_leds_write(struct file *file, const char __user *buf, size_t count, loff_t * ppos)
{
char val;
copy_from_user(&val, buf, 1);
s3c2410_gpio_setpin(S3C2410_GPF4, (val & 0x1));
s3c2410_gpio_setpin(S3C2410_GPF5, (val & 0x1));
s3c2410_gpio_setpin(S3C2410_GPF6, (val & 0x1));
return 1;
}
static long s3c24xx_pwd_ioctl(struct file * file, unsigned int cmd, unsigned long data)
{
int m_sec = 0,m_msec = 0,m_secex = 0,m_msecex = 0;
m_sec = data/1000;
m_msec = data%1000;
int tdata = 0;
m_secex = (10000 - data)/1000;
m_msecex = (10000 - data)%1000;
printk("m_sec:%d,m_msec:%d,m_secex:%d,m_msecex:%d\n",m_sec,m_msec,m_secex,m_msecex);
switch(data) {
case 500 :
while(1) {
GPFDAT &= ~(1<<2);
GPFDAT |= (1<<2);
GPFDAT &= ~(1<<4);
GPFDAT |= (1<<4);
GPFDAT |= (1<<1);
//mdelay(m_sec);
udelay(500);
GPFDAT &= ~(1<<2);
GPFDAT &= ~(1<<4);
GPFDAT &= ~(1<<1);
mdelay(9);
udelay(500);
tdata++;
if (tdata > 1000)
break;
}
break;
case 1000 :
while(1) {
GPFDAT &= ~(1<<2);
GPFDAT |= (1<<2);
GPFDAT &= ~(1<<4);
GPFDAT |= (1<<4);
GPFDAT |= (1<<1);
mdelay(1);
//udelay(500);
GPFDAT &= ~(1<<2);
GPFDAT &= ~(1<<4);
GPFDAT &= ~(1<<1);
mdelay(9);
//udelay(500);
tdata++;
if (tdata > 1000)
break;
}
break;
case 1500 :
while(1) {
GPFDAT &= ~(1<<2);
GPFDAT |= (1<<2);
GPFDAT &= ~(1<<4);
GPFDAT |= (1<<4);
GPFDAT |= (1<<1);
mdelay(1);
udelay(500);
GPFDAT &= ~(1<<2);
GPFDAT &= ~(1<<4);
GPFDAT &= ~(1<<1);
mdelay(8);
udelay(500);
tdata++;
if (tdata > 1000)
break;
}
break;
case 2000 :
while(1) {
GPFDAT &= ~(1<<2);
GPFDAT |= (1<<2);
GPFDAT &= ~(1<<4);
GPFDAT |= (1<<4);
GPFDAT |= (1<<1);
mdelay(2);
//udelay(500);
GPFDAT &= ~(1<<2);
GPFDAT &= ~(1<<4);
GPFDAT &= ~(1<<1);
mdelay(8);
//udelay(500);
tdata++;
if (tdata > 1000)
break;
}
break;
case 2500 :
while(1) {
GPFDAT &= ~(1<<2);
GPFDAT |= (1<<2);
GPFDAT &= ~(1<<4);
GPFDAT |= (1<<4);
GPFDAT |= (1<<1);
mdelay(2);
udelay(500);
GPFDAT &= ~(1<<2);
GPFDAT &= ~(1<<4);
GPFDAT &= ~(1<<1);
mdelay(7);
udelay(500);
tdata++;
if (tdata > 1000)
break;
}
break;
default:
break;
}
}
/* 这个结构是字符设备驱动程序的核心
* 当应用程序操作设备文件时所调用的open、read、write等函数,
* 最终会调用这个结构中指定的对应函数
*/
static struct file_operations s3c24xx_pwd_fops = {
.owner = THIS_MODULE, /* 这是一个宏,推向编译模块时自动创建的__this_module变量 */
.open = s3c24xx_pwd_open,
.write = s3c24xx_leds_write,
.unlocked_ioctl = s3c24xx_pwd_ioctl,
};
/*
* 执行insmod命令时就会调用这个函数
*/
static int __init s3c24xx_pwd_init(void)
{
//设置GPF2引脚,根据定时器输出0/1
int ret;
int minor = 0;
gpio_va = ioremap(0x56000000, 0x100000);
if (!gpio_va) {
return -EIO;
}
/* 注册字符设备
* 参数为主设备号、设备名字、file_operations结构;
* 这样,主设备号就和具体的file_operations结构联系起来了,
* 操作主设备为PWD_MAJOR的设备文件时,就会调用s3c24xx_pwd_fops中的相关成员函数
* PWD_MAJOR可以设为0,表示由内核自动分配主设备号
*/
ret = register_chrdev(PWD_MAJOR, DEVICE_NAME, &s3c24xx_pwd_fops);
if (ret < 0) {
printk(DEVICE_NAME " can't register major number\n");
return ret;
}
pwd_class = class_create(THIS_MODULE, "pwdtimer");
if (IS_ERR(pwd_class))
return PTR_ERR(pwd_class);
pwd_class_devs = class_device_create(pwd_class, NULL, MKDEV(PWD_MAJOR, 0), NULL, "pws"); /* /dev/leds */
printk(DEVICE_NAME " initialized\n");
#if 0
long count = 1;
long ti = 10;
long data = 0;
while(1) {
GPFDAT &= ~(1<<2);
GPFDAT |= (1<<2);
GPFDAT &= ~(1<<4);
GPFDAT |= (1<<4);
GPFDAT |= (1<<1);
udelay(500);
GPFDAT &= ~(1<<2);
GPFDAT &= ~(1<<4);
GPFDAT &= ~(1<<1);
mdelay(9);
udelay(500);
count++;
if (count > 1000)
break;
}
printk("100\n");
count = 1;
while(1) {
GPFDAT &= ~(1<<2);
GPFDAT |= (1<<2);
GPFDAT &= ~(1<<4);
GPFDAT |= (1<<4);
GPFDAT |= (1<<1);
mdelay(2);
GPFDAT &= ~(1<<2);
GPFDAT &= ~(1<<4);
GPFDAT &= ~(1<<1);
mdelay(8);
//udelay(500);
count++;
if (count > 1000)
break;
}
#endif
return 0;
}
/*
* 执行rmmod命令时就会调用这个函数
*/
static void __exit s3c24xx_pwd_exit(void)
{
int minor;
/* 卸载驱动程序 */
unregister_chrdev(PWD_MAJOR, DEVICE_NAME);
class_device_unregister(pwd_class_devs);
class_destroy(pwd_class);
iounmap(gpio_va);
hrtimer_cancel(&timer);
}
module_init(s3c24xx_pwd_init);
module_exit(s3c24xx_pwd_exit);
MODULE_LICENSE("GPL");
测试代码
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <stdio.h>
/*
* ledtest <dev> <on|off>
*/
void print_usage(char *file)
{
printf("Usage:\n");
printf("%s <dev> <on|off>\n",file);
printf("eg. \n");
printf("%s /dev/leds on\n", file);
printf("%s /dev/leds off\n", file);
printf("%s /dev/led1 on\n", file);
printf("%s /dev/led1 off\n", file);
}
int main(int argc, char **argv)
{
int fd;
char filename[] = "/dev/pws";
char val;
fd = open(filename, O_RDWR);
if (fd < 0)
{
printf("error, can't open %s\n", filename);
return 0;
}
int i,j;
volatile int count = 2;
volatile int count1 = 9000;
int ret = 0;
while(1){
ret = ioctl(fd, 0, 500);
if (ret) {
perror("ioctl read:");
exit(-4);
}
sleep(2);
#if 0
ret = ioctl(fd, 0, 1000);
if (ret) {
perror("ioctl read:");
exit(-4);
}
sleep(3);
ret = ioctl(fd, 0, 1500);
if (ret) {
perror("ioctl read:");
exit(-4);
}
sleep(3);
ret = ioctl(fd, 0, 2000);
if (ret) {
perror("ioctl read:");
exit(-4);
}
sleep(3);
#endif
ret = ioctl(fd, 0, 2500);
if (ret) {
perror("ioctl read:");
exit(-4);
}
sleep(2);
}
return 0;
}