add gk7205v200-motors (#1525)

general/package/gk7205v200-motors/Config.in

@@ -0,0 +1,4 @@
+config BR2_PACKAGE_GK7205V200_MOTORS
+	bool "gk7205v200-motors"
+	help
+	  Sample code to control gk7205v200 motors.

general/package/gk7205v200-motors/gk7205v200-motors.mk

@@ -0,0 +1,19 @@
+################################################################################
+#
+# gk7205v200-motors
+#
+################################################################################
+
+GK7205V200_MOTORS_SITE_METHOD = local
+GK7205V200_MOTORS_SITE = $(GK7205V200_MOTORS_PKGDIR)/src
+
+define GK7205V200_MOTORS_BUILD_CMDS
+	$(MAKE) CC=$(TARGET_CC) -C $(@D)
+endef
+
+define GK7205V200_MOTORS_INSTALL_TARGET_CMDS
+	$(INSTALL) -m 755 -d $(TARGET_DIR)/usr/bin
+	$(INSTALL) -m 755 -t $(TARGET_DIR)/usr/bin $(@D)/output/motor
+endef
+
+$(eval $(generic-package))

general/package/gk7205v200-motors/src/Makefile

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

general/package/gk7205v200-motors/src/motor.c

@@ -0,0 +1,154 @@
+#include <errno.h>
+#include <fcntl.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <linux/gpio.h>
+#include <sys/file.h>
+#include <sys/ioctl.h>
+
+#define STEP_TIME 1000
+#define STEP_COUNT 1
+#define SEQ_COUNT 8
+
+typedef struct {
+	const char *name;
+	int gpio_x[4];
+	int gpio_y[4];
+} config;
+
+static config list[] = {
+	{ "gk7205v200", { 52, 53, 56, 57 }, { 69, 70, 59, 58 }, },
+};
+
+const char* dev_name[] = { "/dev/gpiochip0", "/dev/gpiochip1", "/dev/gpiochip2", "/dev/gpiochip3",
+			   "/dev/gpiochip4", "/dev/gpiochip5", "/dev/gpiochip6", "/dev/gpiochip7",
+			 };
+
+static int sequence[][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 },
+	{ 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 },
+};
+
+static int write_gpio(int pin, int val) {
+	struct gpiohandle_request rq;
+	struct gpiohandle_data data;
+	unsigned char gpiochip = ((pin >> 3) == 0) ? 0 :  (pin >> 3) - 1;
+	pin = (int) (pin & 7);
+	int fd = open(dev_name[gpiochip], O_RDONLY);
+	if (fd < 0) {
+		printf("Unable to open chip: %s\n", strerror(errno));
+		return 1;
+	}
+
+	rq.lineoffsets[0] = pin;
+	rq.flags = GPIOHANDLE_REQUEST_OUTPUT;
+	rq.lines = 1;
+
+	if (ioctl(fd, GPIO_GET_LINEHANDLE_IOCTL, &rq) < 0) {
+		printf("Unable to request gpio %d: [%d] %s\n", pin, errno, strerror(errno));
+		return 1;
+	}
+
+	close(fd);
+	data.values[0] = val;
+
+	if (ioctl(rq.fd, GPIOHANDLE_SET_LINE_VALUES_IOCTL, &data) < 0) {
+		printf("Unable to set value %d: %s\n", val, strerror(errno));
+		return 1;
+	}
+
+	close(rq.fd);
+
+	return 0;
+}
+
+static int motor_control(int *gpio, int count) {
+	for (int i = count; i < count + SEQ_COUNT; i++) {
+		for (int j = 0; j < 4; j++) {
+			if (write_gpio(gpio[j], sequence[i][j])) {
+				return 1;
+			}
+
+			usleep(STEP_TIME);
+		}
+	}
+
+	return 0;
+}
+
+static int gpio_export(int *gpio) {
+	for (int i = 0; i < 4; i++) {
+		if (write_gpio(gpio[i], 0)) {
+			return 1;
+		}
+	}
+
+	return 0;
+}
+
+int main(int argc, char **argv) {
+	if (argc < 3 || argc > 4) {
+		printf("Usage: %s [device] [x_step] [y_step]\n", argv[0]);
+		return -1;
+	}
+
+	int dev = -1;
+	for (int i = 0; i < sizeof(list) / sizeof(config); i++) {
+		if (strstr(argv[1], list[i].name)) {
+			dev = i;
+			break;
+		}
+	}
+
+	if (dev < 0) {
+		printf("Device not supported\n");
+		return -1;
+	}
+
+	int pid = open("/var/run/motor.pid", O_RDWR | O_CREAT, 0644);
+	if (flock(pid, LOCK_EX | LOCK_NB)) {
+		printf("Control in progress\n");
+		close(pid);
+		return -1;
+	}
+
+	int x = argv[2] ? atoi(argv[2]) : 0;
+	int y = argv[3] ? atoi(argv[3]) : 0;
+
+	if (gpio_export(list[dev].gpio_x) || gpio_export(list[dev].gpio_y)) {
+		close(pid);
+		return -1;
+	}
+
+	int count_x = abs(x) ? STEP_COUNT : 0;
+	int count_y = abs(y) ? STEP_COUNT : 0;
+
+	while (count_x || count_y) {
+		if (count_x) {
+			if (motor_control(list[dev].gpio_x, (x < 0) ? SEQ_COUNT : 0)) {
+				goto reset;
+			}
+
+			count_x--;
+		}
+
+		if (count_y) {
+			if (motor_control(list[dev].gpio_y, (y < 0) ? 0 : SEQ_COUNT)) {
+				goto reset;
+			}
+
+			count_y--;
+		}
+	}
+
+reset:
+	gpio_export(list[dev].gpio_x);
+	gpio_export(list[dev].gpio_y);
+	close(pid);
+
+	return 0;
+}