創(chuàng)維特試驗箱上實現(xiàn)步進(jìn)電機的運轉(zhuǎn)

-.z嵌入式系統(tǒng)實驗報告一、實驗時間 2015年5月5日14:30~21:30二、實驗地點 一實驗樓401機房三、實驗?zāi)康?1、在創(chuàng)維特試驗箱上實現(xiàn)步進(jìn)電機的運轉(zhuǎn)。四、實驗步驟1、了解步進(jìn)電機的運作方式。2、編譯驅(qū)動代碼代碼：staticstructtimer_listttimer;staticintDevice_Open=0;staticintnum=2;/*usedtocontrolthespeedofthestepper*/staticenum{off,clockwise,anticlockwise}status=off;/*usedtoindicateandsetthestatusofthestepper*/staticintrow=0;unsignedcharpulse_table[]={ 0*05,0*09,0*0a,0*06,};staticchar*out_base; /*kerneladdr*/int device_ioctl(structinode*,structfile*,unsignedint,unsignedlong); staticvoidtime_tick(unsignedlongdata){ staticinti=0;// printk("time_tick\n"); switch(status) { caseoff: break; caseclockwise: if(++i==num){ i=0; if(row==4)row=0; writeb(pulse_table[row++],out_base); } ttimer.e*pires=jiffies+5; //settimer add_timer(&ttimer); //addtimer break; caseanticlockwise: if(++i==num){ i=0; if(row==-1)row=3; writeb(pulse_table[row--],out_base); } ttimer.e*pires=jiffies+5; //settimer add_timer(&ttimer); //addtimer break; default: break; }}/*Thisfunctioniscalledwheneveraprocessattempts*toopenthedevicefile*/staticintdevice_open(structinode*inode,structfile*file){printk("DeviceOpen\n");/*Wedon'twanttotalktotwoprocessesatthe*sametime*/if(Device_Open)return-EBUSY;Device_Open++;MOD_INC_USE_COUNT;return0;}/*Thisfunctioniscalledwhenaprocessclosesthe*devicefile.Itdoesn'thaveareturnvaluebecause*itcannotfail.Regardlessofwhatelsehappens,you*shouldalwaysbeabletocloseadevice(in2.0,a2.2*devicefilecouldbeimpossibletoclose).*/staticintdevice_release(structinode*inode,structfile*file){printk(("DeviceRelease\n"));/*We'renowreadyforourne*tcaller*/Device_Open--;MOD_DEC_USE_COUNT;return0;}/*Thisfunctioniscalledwheneveraprocesswhich*hasalreadyopenedthedevicefileattemptsto*readfromit.*/staticssize_tdevice_read(structfile*file,char*buffer, /*Thebuffertofillwiththedata*/size_tlength, /*Thelengthofthebuffer*/loff_t*offset) /*offsettothefile*/{ return0;}/*Thisfunctioniscalledwhensomebodytriesto*writeintoourdevicefile.*/staticssize_tdevice_write(structfile*file,constchar*buffer,size_tlength,loff_t*offset){ return0;};/*Thisfunctioniscalledwheneveraprocesstriesto*doanioctlonourdevicefile.Wegettwoe*tra*parameters(additionaltotheinodeandfile*structures,whichalldevicefunctionsget):thenumber*oftheioctlcalledandtheparametergiventothe*ioctlfunction.**Iftheioctliswriteorread/write(meaningoutput*isreturnedtothecallingprocess),theioctlcall*returnstheoutputofthisfunction.*/intdevice_ioctl(structinode*inode,structfile*file,unsignedintioctl_num,/*Thenumberoftheioctl*/unsignedlongioctl_param)/*Theparametertoit*/{structstepper*s;printk(("DeviceIoctl\n"));/*Switchaccordingtotheioctlcalled*/switch(ioctl_num){caseIOCTL_SET_MSG:/*Receiveapointertoamessage(inuserspace)*andsetthattobethedevice'smessage.*//*Gettheparametergiventoioctlbytheprocess*/ s=(structstepper*)ioctl_param; printk("CmdID=%d\n",s->CmdID); switch(s->CmdID) { case0:/*start*/ status=clockwise; ttimer.e*pires=jiffies+1;//startthetimer add_timer(&ttimer);//addtimer printk("clockwise\n"); break; case1:/*stop*/ status=off;//changethestatusofthestepper printk("off\n"); break; case2:/*reverse*/ if(status==clockwise){ status=anticlockwise; //changethestatusofthestepper printk("anticlockwise\n"); } elseif(status==anticlockwise){ status=clockwise; printk("clockwise\n"); } break; case3:/*speedup*/ if(num!=1)num--; break; case4:/*speeddown*/ num++; break;}break;caseIOCTL_GET_MSG:printk(("DeviceIoctlGET_MSG\n"));break;}return0;};/*ModuleDeclarations****************************//*Thisstructurewillholdthefunctionstobecalled*whenaprocessdoessomethingtothedevicewe*created.Sinceapointertothisstructureiskeptin*thedevicestable,itcan'tbelocalto*init_module.NULLisforunimplementedfunctions.*/structfile_operationsFops={ .read =device_read, .write =device_write, .open =device_open, .release =device_release, .ioctl =device_ioctl };/*Initializethemodule-Registerthecharacterdevice*/staticint__initstepper_module_init(void){intret_val;/*Registerthecharacterdevice(atleasttry)*/ret_val=register_chrdev(MAJOR_NUM,DEVICE_NAME,&Fops);/*Negativevaluessignifyanerror*/if(ret_val<0){printk("%sfailedwith%d.\n","Sorry,registeringthecharacterdevice",ret_val);returnret_val;}printk("%sThemajordevicenumberis%d.\n","Registerationisasuccess.",MAJOR_NUM);printk("Ifyouwanttotalktothedevicedriver,\n");printk("you'llhavetocreateadevicefile.\n");printk("Wesuggestyouuse:\n");printk("mknod/dev/stepperc%d0\n",MAJOR_NUM);printk("Thedevicefilenameisimportant,because\n");printk("theioctlprogramassumesthat'sthe\n");printk("fileyou'lluse.\n");if(check_region(0*28000006,1)){printk("Thestepperportisusedbyanothermodule.\n");return-1;}/*I/Oaddrmap*/request_region(0*28000006,1,DEVICE_NAME);out_base=(char*)ioremap(0*28000006,1);init_timer(&ttimer);//initializetimerttimer.function=time_tick;//timerprocessingfunctionreturn0;};/*Cleanup-unregistertheappro