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Update gpio-motors (#1744)

pull/1752/head
Charlie 2025-03-13 14:24:10 -05:00 committed by GitHub
parent c72d852460
commit 1280422da0
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GPG Key ID: B5690EEEBB952194
2 changed files with 69 additions and 65 deletions
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6
general/package/gpio-motors/Config.in
View File

@ -1,6 +1,6 @@
config BR2_PACKAGE_GPIO_MOTORS
bool "gpio-motors"
help
Control stepper motors via sysfs GPIO. This code was developed
on a GrainMedia GM8136 board with 24BYJ48 stepper motors and a ULN2803
but should be portable to any other platform with sysfs GPIO access.
Control stepper motors via sysfs GPIO. Confirmed working with 24BYJ48
stepper motors and ULN2803s on GM8136, HI3516CV200, T21, and GK7102
SOCs and should be portable to any with sysfs GPIO access.

128
general/package/gpio-motors/src/gpio-motors.c
View File

@ -5,19 +5,6 @@
#include <string.h>
#include <unistd.h>
typedef struct {
char *name;
int pan[4];
int tilt[4];
} config;
static config list[] = {
{ "gk7205v200", { 52, 53, 56, 57 }, { 69, 70, 59, 58 } },
{ "gm8136-faleemi",{ 51, 52, 53, 54 }, { 55, 28, 29, 30 } },
{ "hi3516cv200-fdt",{ 60, 61, 37, 38 }, { 54, 55, 56, 57 } },
{ "ssc337de-foscam",{ 1, 2, 12, 13 }, { 62, 63, 64, 65 } },
};
int PAN_PINS[4];
int TILT_PINS[4];
@ -27,8 +14,8 @@ int STEP_SEQUENCE[8][4] = {
};
int REVERSE_STEP_SEQUENCE[8][4] = {
{1, 0, 0, 1}, {0, 0, 0, 1}, {0, 0, 1, 1}, {0, 0, 1, 0},
{0, 1, 1, 0}, {0, 1, 0, 0}, {1, 1, 0, 0}, {1, 0, 0, 0}
{1, 0, 0, 1}, {0, 0, 0, 1}, {0, 0, 1, 1}, {0, 0, 1, 0},
{0, 1, 1, 0}, {0, 1, 0, 0}, {1, 1, 0, 0}, {1, 0, 0, 0}
};
void release_gpio(int pin) {
@ -39,26 +26,24 @@ void release_gpio(int pin) {
fprintf(file, "%d", 0);
fclose(file);
} else {
printf("Unable to set value of GPIO %d to 0: [%d] %s\n", pin, errno, strerror(errno));
}
printf("Unable to set value of GPIO %d to 0: [%d] %s\n", pin, errno, strerror(errno));
}
file = fopen("/sys/class/gpio/unexport", "w");
file = fopen("/sys/class/gpio/unexport", "w");
if (file) {
fprintf(file, "%d", pin);
fclose(file);
} else {
printf("Unable to unexport GPIO %d: [%d] %s\n", pin, errno, strerror(errno));
printf("Unable to unexport GPIO %d: [%d] %s\n", pin, errno, strerror(errno));
}
}
void cleanup() {
for (int i = 0; i < 4; i++) {
release_gpio(PAN_PINS[i]);
release_gpio(TILT_PINS[i]);
}
exit(EXIT_FAILURE);
for (int i = 0; i < 4; i++) {
release_gpio(PAN_PINS[i]);
release_gpio(TILT_PINS[i]);
}
exit(EXIT_FAILURE);
}
void export_gpio(int pin) {
@ -70,8 +55,8 @@ void export_gpio(int pin) {
fprintf(file, "%d", pin);
fclose(file);
} else {
printf("Unable export GPIO %d: [%d] %s\n", pin, errno, strerror(errno));
cleanup();
printf("Unable export GPIO %d: [%d] %s\n", pin, errno, strerror(errno));
cleanup();
}
snprintf(path, sizeof(path), "/sys/class/gpio/gpio%d/direction", pin);
@ -80,9 +65,8 @@ void export_gpio(int pin) {
fprintf(file, "out");
fclose(file);
} else {
printf("Unable to set direction of GPIO %d: [%d] %s\n", pin, errno, strerror(errno));
cleanup();
printf("Unable to set direction of GPIO %d: [%d] %s\n", pin, errno, strerror(errno));
cleanup();
}
}
@ -92,8 +76,8 @@ void unexport_gpio(int pin) {
fprintf(file, "%d", pin);
fclose(file);
} else {
printf("Unable to unexport GPIO %d: [%d] %s\n", pin, errno, strerror(errno));
cleanup();
printf("Unable to unexport GPIO %d: [%d] %s\n", pin, errno, strerror(errno));
cleanup();
}
}
@ -105,38 +89,56 @@ void set_gpio(int pin, int value) {
fprintf(file, "%d", value);
fclose(file);
} else {
printf("Unable to set value of GPIO %d: [%d] %s\n", pin, errno, strerror(errno));
cleanup();
printf("Unable to set value of GPIO %d: [%d] %s\n", pin, errno, strerror(errno));
cleanup();
}
}
void get_gpio_config() {
FILE *fp = popen("fw_printenv -n gpio_motors", "r");
if (fp == NULL) {
printf("Unable to run fw_printenv\n");
exit(EXIT_FAILURE);
}
char line[32];
if (fgets(line, sizeof(line), fp) != NULL) {
char *token = strtok(line, " ");
int index = 0;
while (token != NULL && index < 8) {
if (index < 4) {
PAN_PINS[index] = atoi(token);
} else {
TILT_PINS[index - 4] = atoi(token);
}
token = strtok(NULL, " ");
index++;
}
if (index != 8) {
printf("Error: Expected 8 GPIO values, but got %d.\n", index);
exit(EXIT_FAILURE);
}
} else {
printf("Error: Unable to read gpio_motors from fw_printenv.\n");
exit(EXIT_FAILURE);
}
fclose(fp);
}
int main(int argc, char *argv[]) {
if (argc != 5) {
fprintf(stderr, "Usage: %s <config> <pan steps> <tilt steps> <delay>\n", argv[0]);
if (argc != 4) {
fprintf(stderr, "Usage: %s <pan steps> <tilt steps> <delay (ms)>\n", argv[0]);
return 1;
}
int pan_steps = atoi(argv[2]);
int tilt_steps = atoi(argv[3]);
int delay = atoi(argv[4]);
int pan_steps = atoi(argv[1]);
int tilt_steps = atoi(argv[2]);
int delay = atoi(argv[3]) * 1000;
config *selected_config = NULL;
int config_count = sizeof(list) / sizeof(list[0]);
for (int i = 0; i < config_count; i++) {
if (strcmp(list[i].name, argv[1]) == 0) {
selected_config = &list[i];
break;
}
}
if (selected_config == NULL) {
fprintf(stderr, "Error: config '%s' not found.\n", argv[1]);
return 1;
}
for (int i = 0; i < 4; i++) {
PAN_PINS[i] = selected_config->pan[i];
TILT_PINS[i] = selected_config->tilt[i];
}
get_gpio_config();
for (int i = 0; i < 4; i++) {
export_gpio(PAN_PINS[i]);
@ -150,7 +152,7 @@ int main(int argc, char *argv[]) {
int pan_micro = 0;
int tilt_micro = 0;
while (pan_remaining > 0 || tilt_remaining > 0) {
while (pan_remaining > 0 || tilt_remaining > 0) {
int pan_has = pan_remaining > 0;
int tilt_has = tilt_remaining > 0;
@ -183,8 +185,10 @@ int main(int argc, char *argv[]) {
usleep(eff_delay);
}
for (int i = 0; i < 4; i++) {
release_gpio(PAN_PINS[i]);
release_gpio(TILT_PINS[i]);
}
for (int i = 0; i < 4; i++) {
release_gpio(PAN_PINS[i]);
release_gpio(TILT_PINS[i]);
}
return 0;
}