步进电机驱动程序:
#include <linux/miscdevice.h>
#include <linux/delay.h>
#include <asm/irq.h>
#include <mach/regs-gpio.h>
#include <mach/hardware.h>
#include <linux/kernel.h>
#include <linux/module.h>
#include <linux/init.h>
#include <linux/mm.h>
#include <linux/fs.h>
#include <linux/types.h>
#include <linux/delay.h>
#include <linux/moduleparam.h>
#include <linux/slab.h>
#include <linux/errno.h>
#include <linux/ioctl.h>
#include <linux/cdev.h>
#include <linux/string.h>
#include <linux/list.h>
#include <linux/pci.h>
#include <asm/uaccess.h>
#include <asm/atomic.h>
#include <asm/unistd.h>
#define DEVICE_NAME "myleds"
static unsigned long led_table [] = {
S3C2410_GPB5,
S3C2410_GPB6,
S3C2410_GPB7,
S3C2410_GPB8,
};
static unsigned int led_cfg_table [] = {
S3C2410_GPB5_OUTP,
S3C2410_GPB6_OUTP,
S3C2410_GPB7_OUTP,
S3C2410_GPB8_OUTP,
};
static int sbc2440_leds_ioctl(
struct inode *inode,
struct file *file,
int cmd,
long arg)
//cmd正负表示电机转动方向,和转动度数;arg正负表示电机号,绝对值表示电机转动间隔
{
int n,deg,dir,frq;
int i;
deg=cmd;
frq=arg;
if(cmd<0)
{
dir=0;//dir为0表示电机反转,转动deg角度
deg=-cmd;
}
else
{
dir=1;//dir为1表示电机正转,转动deg角度
deg=cmd;
}
if(arg<0)
{
n=0;//n为0表示0号电机,每步间隔frq毫秒
frq=-arg;
}
else
{
n=1;//n为0表示1号电机,每步间隔frq毫秒
frq=arg;
}
printk("n=%d,deg=%d,dir=%d,frq=%d",n,deg,dir,frq);
switch(n)
{
case 0://0号电机转动deg角度
s3c2410_gpio_setpin(S3C2410_GPB5 , dir);
for(i=0;i<deg;i++)
{
s3c2410_gpio_setpin(S3C2410_GPB6,1);
mdelay(frq/2);
s3c2410_gpio_setpin(S3C2410_GPB6,0);
mdelay(frq/2);
}
break;
case 1:// 1号电机转动deg角度
s3c2410_gpio_setpin(S3C2410_GPB7 , dir);
for(i=0;i<deg;i++)
{
s3c2410_gpio_setpin(S3C2410_GPB8,1);
mdelay(frq/2);
s3c2410_gpio_setpin(S3C2410_GPB8,0);
mdelay(frq/2);
}
break;
default:
break;
}
}
static struct file_operations dev_fops = {
.owner = THIS_MODULE,
.ioctl = sbc2440_leds_ioctl,
};
static struct miscdevice misc = {
.minor = MISC_DYNAMIC_MINOR,
.name = DEVICE_NAME,
.fops = &dev_fops,
};
static int __init dev_init(void)
{
int ret;
int i;
for (i = 0; i < 4; i++) {
s3c2410_gpio_cfgpin(led_table[i], led_cfg_table[i]);
s3c2410_gpio_setpin(led_table[i], 0);
}
ret = misc_register(&misc);
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("JXBOYLJ BIT");
驱动测试程序:
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <sys/ioctl.h>
int main(int argc, char **argv)
{
int index,dir,deg,speed;
int fd;
if (argc != 5 || sscanf(argv[1], "%d", &index) != 1 || sscanf(argv[2],"%d", &dir) != 1 ||sscanf(argv[3], "%d", °) != 1 || sscanf(argv[4],"%d", &speed) != 1)
{
fprintf(stderr, "Usage: leds led_no 0|1\n");
exit(1);
}
if(dir==0) deg=-deg;
printf("dir=%d,deg=%d\n",dir,deg);
if(index==0) speed=-speed;
printf("index=%d,speed=%d\n",index,speed);
fd = open("/dev/myleds", 0);
if (fd < 0) {
fd = open("/dev/leds0", 0);
}
if (fd < 0) {
perror("open device leds");
exit(1);
}
ioctl(fd, deg, speed);
close(fd);
return 0;
}