Consolidate motor packages - create gpio-motors (#1739)

general/package/Config.in

@@ -22,6 +22,7 @@ source "$BR2_EXTERNAL_GENERAL_PATH/package/go2rtc/Config.in"
 source "$BR2_EXTERNAL_GENERAL_PATH/package/goke-osdrv-gk710x/Config.in"
 source "$BR2_EXTERNAL_GENERAL_PATH/package/goke-osdrv-gk7205v200/Config.in"
 source "$BR2_EXTERNAL_GENERAL_PATH/package/goke-osdrv-gk7205v500/Config.in"
+source "$BR2_EXTERNAL_GENERAL_PATH/package/gpio-motors/Config.in"
 source "$BR2_EXTERNAL_GENERAL_PATH/package/grainmedia-osdrv-gm8136/Config.in"
 source "$BR2_EXTERNAL_GENERAL_PATH/package/hisi-gpio/Config.in"
 source "$BR2_EXTERNAL_GENERAL_PATH/package/hisilicon-opensdk/Config.in"

general/package/gpio-motors/Config.in

@@ -0,0 +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.

general/package/gpio-motors/gpio-motors.mk

@@ -0,0 +1,18 @@
+################################################################################
+#
+# gpio-motors
+#
+################################################################################
+
+GPIO_MOTORS_SITE_METHOD = local
+GPIO_MOTORS_SITE = $(GPIO_MOTORS_PKGDIR)/src
+
+define GPIO_MOTORS_BUILD_CMDS
+	$(MAKE) CC=$(TARGET_CC) -C $(@D)
+endef
+
+define GPIO_MOTORS_INSTALL_TARGET_CMDS
+	$(INSTALL) -m 755 -t $(TARGET_DIR)/usr/bin $(@D)/output/*
+endef
+
+$(eval $(generic-package))

general/package/gpio-motors/src/Makefile

@@ -0,0 +1,3 @@
+gpio-motors:
+	mkdir -p output
+	$(CC) $@.c -o output/$@ -s -Wall

general/package/gpio-motors/src/gpio-motors.c

@@ -0,0 +1,190 @@
+#include <errno.h>
+#include <fcntl.h>
+#include <stdio.h>
+#include <stdlib.h>
+#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];
+
+int STEP_SEQUENCE[8][4] = {
+    {1, 0, 0, 0}, {1, 1, 0, 0}, {0, 1, 0, 0}, {0, 1, 1, 0},
+    {0, 0, 1, 0}, {0, 0, 1, 1}, {0, 0, 0, 1}, {1, 0, 0, 1}
+};
+
+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}
+};
+
+void release_gpio(int pin) {
+    char path[50];
+    snprintf(path, sizeof(path), "/sys/class/gpio/gpio%d/value", pin);
+    FILE *file = fopen(path, "w");
+    if (file) {
+        fprintf(file, "%d", 0);
+        fclose(file);
+    } else {
+        printf("Unable to set value of GPIO %d to 0: [%d] %s\n", pin, errno, strerror(errno));	
+	}
+
+	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));	
+    }
+}
+
+void cleanup() {
+
+	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) {
+    char path[50];
+    FILE *file;
+
+    file = fopen("/sys/class/gpio/export", "w");
+    if (file) {
+        fprintf(file, "%d", pin);
+        fclose(file);
+    } else {
+        printf("Unable export GPIO %d: [%d] %s\n", pin, errno, strerror(errno));	
+		cleanup();
+    }
+
+    snprintf(path, sizeof(path), "/sys/class/gpio/gpio%d/direction", pin);
+    file = fopen(path, "w");
+    if (file) {
+        fprintf(file, "out");
+        fclose(file);
+    } else {
+        printf("Unable to set direction of GPIO %d: [%d] %s\n", pin, errno, strerror(errno));	
+		cleanup();
+
+    }
+}
+
+void unexport_gpio(int pin) {
+    FILE *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));	
+		cleanup();
+    }
+}
+
+void set_gpio(int pin, int value) {
+    char path[50];
+    snprintf(path, sizeof(path), "/sys/class/gpio/gpio%d/value", pin);
+    FILE *file = fopen(path, "w");
+    if (file) {
+        fprintf(file, "%d", value);
+        fclose(file);
+    } else {
+        printf("Unable to set value of GPIO %d: [%d] %s\n", pin, errno, strerror(errno));	
+		cleanup();
+    }
+}
+
+int main(int argc, char *argv[]) {
+    if (argc != 5) {
+        fprintf(stderr, "Usage: %s <config> <pan steps> <tilt steps> <delay>\n", argv[0]);
+        return 1;
+    }
+
+	int pan_steps = atoi(argv[2]);
+    int tilt_steps = atoi(argv[3]);
+	int delay = atoi(argv[4]);
+
+    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];
+    }
+
+    for (int i = 0; i < 4; i++) {
+        export_gpio(PAN_PINS[i]);
+        export_gpio(TILT_PINS[i]);
+    }
+
+    int pan_remaining = abs(pan_steps);
+    int tilt_remaining = abs(tilt_steps);
+    int pan_reverse = (pan_steps < 0);
+    int tilt_reverse = (tilt_steps < 0);
+    int pan_micro = 0;
+    int tilt_micro = 0;
+
+	while (pan_remaining > 0 || tilt_remaining > 0) {
+        int pan_has = pan_remaining > 0;
+        int tilt_has = tilt_remaining > 0;
+
+        int pan_eff = pan_has ? (tilt_has ? delay : delay / 2) : 0;
+        int tilt_eff = tilt_has ? (pan_has ? delay : delay / 2) : 0;
+        int eff_delay = (pan_eff > tilt_eff) ? pan_eff : tilt_eff;
+
+        if (pan_has) {
+            const int (*seq)[4] = pan_reverse ? REVERSE_STEP_SEQUENCE : STEP_SEQUENCE;
+            for (int k = 0; k < 4; k++) {
+                set_gpio(PAN_PINS[k], seq[pan_micro][k]);
+            }
+            if (++pan_micro >= 8) {
+                pan_micro = 0;
+                pan_remaining--;
+            }
+        }
+
+        if (tilt_has) {
+            const int (*seq)[4] = tilt_reverse ? REVERSE_STEP_SEQUENCE : STEP_SEQUENCE;
+            for (int k = 0; k < 4; k++) {
+                set_gpio(TILT_PINS[k], seq[tilt_micro][k]);
+            }
+            if (++tilt_micro >= 8) {
+                tilt_micro = 0;
+                tilt_remaining--;
+            }
+        }
+
+        usleep(eff_delay);
+    }
+
+	for (int i = 0; i < 4; i++) {
+		release_gpio(PAN_PINS[i]);
+		release_gpio(TILT_PINS[i]);
+	}
+}