From 8b071fe3452f59597422f5cf5299b522502803d8 Mon Sep 17 00:00:00 2001
From: viktorxda <35473052+viktorxda@users.noreply.github.com>
Date: Mon, 6 Nov 2023 02:38:50 +0100
Subject: [PATCH] [no ci] Sigmastar: add motors sample package (#1111)
---
.../configs/ssc337de_ultimate_defconfig | 1 +
general/package/Config.in | 1 +
general/package/sigmastar-motors/Config.in | 4 +
.../sigmastar-motors/sigmastar-motors.mk | 19 +++
general/package/sigmastar-motors/src/Makefile | 3 +
.../sigmastar-motors/src/motor_foscam.c | 131 ++++++++++++++++++
6 files changed, 159 insertions(+)
create mode 100644 general/package/sigmastar-motors/Config.in
create mode 100644 general/package/sigmastar-motors/sigmastar-motors.mk
create mode 100644 general/package/sigmastar-motors/src/Makefile
create mode 100644 general/package/sigmastar-motors/src/motor_foscam.c
diff --git a/br-ext-chip-sigmastar/configs/ssc337de_ultimate_defconfig b/br-ext-chip-sigmastar/configs/ssc337de_ultimate_defconfig
index 109d0c91..25bd9513 100644
--- a/br-ext-chip-sigmastar/configs/ssc337de_ultimate_defconfig
+++ b/br-ext-chip-sigmastar/configs/ssc337de_ultimate_defconfig
@@ -85,6 +85,7 @@ BR2_PACKAGE_OPUS_OPENIPC=y
BR2_PACKAGE_OPUS_OPENIPC_FIXED_POINT=y
BR2_PACKAGE_SIGMASTAR_OSDRV_INFINITY6B0=y
BR2_PACKAGE_SIGMASTAR_OSDRV_ULTIMATE=y
+BR2_PACKAGE_SIGMASTAR_MOTORS=y
BR2_PACKAGE_DOSFSTOOLS=y
BR2_PACKAGE_DOSFSTOOLS_FSCK_FAT=y
BR2_PACKAGE_EXFAT_OPENIPC=y
diff --git a/general/package/Config.in b/general/package/Config.in
index a30cab10..d3ed86e5 100644
--- a/general/package/Config.in
+++ b/general/package/Config.in
@@ -86,6 +86,7 @@ source "$BR2_EXTERNAL_GENERAL_PATH/package/rtl8192eu-openipc/Config.in"
source "$BR2_EXTERNAL_GENERAL_PATH/package/rtl8733bu-openipc/Config.in"
source "$BR2_EXTERNAL_GENERAL_PATH/package/rtl8812au-openipc/Config.in"
source "$BR2_EXTERNAL_GENERAL_PATH/package/rtw-hostapd/Config.in"
+source "$BR2_EXTERNAL_GENERAL_PATH/package/sigmastar-motors/Config.in"
source "$BR2_EXTERNAL_GENERAL_PATH/package/sigmastar-osdrv-infinity6/Config.in"
source "$BR2_EXTERNAL_GENERAL_PATH/package/sigmastar-osdrv-infinity6b0/Config.in"
source "$BR2_EXTERNAL_GENERAL_PATH/package/sigmastar-osdrv-infinity6e/Config.in"
diff --git a/general/package/sigmastar-motors/Config.in b/general/package/sigmastar-motors/Config.in
new file mode 100644
index 00000000..6d0abbc9
--- /dev/null
+++ b/general/package/sigmastar-motors/Config.in
@@ -0,0 +1,4 @@
+config BR2_PACKAGE_SIGMASTAR_MOTORS
+ bool "sigmastar-motors"
+ help
+ Sample code to control Sigmastar motors.
diff --git a/general/package/sigmastar-motors/sigmastar-motors.mk b/general/package/sigmastar-motors/sigmastar-motors.mk
new file mode 100644
index 00000000..065c6323
--- /dev/null
+++ b/general/package/sigmastar-motors/sigmastar-motors.mk
@@ -0,0 +1,19 @@
+################################################################################
+#
+# sigmastar-motors
+#
+################################################################################
+
+define SIGMASTAR_MOTORS_EXTRACT_CMDS
+ cp -r $(SIGMASTAR_MOTORS_PKGDIR)/src/* $(@D)
+endef
+
+define SIGMASTAR_MOTORS_BUILD_CMDS
+ $(MAKE) CC=$(TARGET_CC) -C $(@D)
+endef
+
+define SIGMASTAR_MOTORS_INSTALL_TARGET_CMDS
+ $(INSTALL) -m 755 -t $(TARGET_DIR)/usr/bin $(@D)/output/*
+endef
+
+$(eval $(generic-package))
diff --git a/general/package/sigmastar-motors/src/Makefile b/general/package/sigmastar-motors/src/Makefile
new file mode 100644
index 00000000..a148bf64
--- /dev/null
+++ b/general/package/sigmastar-motors/src/Makefile
@@ -0,0 +1,3 @@
+motor_foscam:
+ mkdir -p output
+ $(CC) motor_foscam.c -o output/$@ -s -Wall
diff --git a/general/package/sigmastar-motors/src/motor_foscam.c b/general/package/sigmastar-motors/src/motor_foscam.c
new file mode 100644
index 00000000..b31c3d45
--- /dev/null
+++ b/general/package/sigmastar-motors/src/motor_foscam.c
@@ -0,0 +1,131 @@
+#include <errno.h>
+#include <fcntl.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <linux/gpio.h>
+#include <sys/ioctl.h>
+
+#define DEV_NAME "/dev/gpiochip0"
+#define STEP_TIME 2 * 1000
+
+static int motor_gpio[][4] = {
+ {01, 02, 12, 13},
+ {62, 63, 64, 65},
+};
+
+static int sequence[][4] = {
+ {1, 0, 0, 0},
+ {0, 1, 0, 0},
+ {0, 0, 1, 0},
+ {0, 0, 0, 1},
+ {0, 0, 0, 1},
+ {0, 0, 1, 0},
+ {0, 1, 0, 0},
+ {1, 0, 0, 0},
+};
+
+static void write_gpio(int pin, int value) {
+ struct gpiohandle_request rq;
+ struct gpiohandle_data data;
+
+ int fd = open(DEV_NAME, O_RDONLY);
+ if (fd < 0) {
+ printf("Unabled to open chip: %s\n", strerror(errno));
+ return;
+ }
+
+ 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: %s\n", strerror(errno));
+ return;
+ }
+
+ close(fd);
+ data.values[0] = value;
+
+ if (ioctl(rq.fd, GPIOHANDLE_SET_LINE_VALUES_IOCTL, &data) < 0) {
+ printf("Unable to set value: %s\n", strerror(errno));
+ return;
+ }
+
+ close(rq.fd);
+}
+
+static void motor_control(int dir, int step) {
+ usleep(STEP_TIME);
+ for (int i = 0; i < 4; i++) {
+ write_gpio(motor_gpio[dir][i], sequence[step][i]);
+ }
+}
+
+static void motor_reset(int dir) {
+ for (int i = 0; i < 4; i++) {
+ write_gpio(motor_gpio[dir][i], 0);
+ }
+}
+
+static void usage(const char *name) {
+ printf("Usage: %s [options]\n"
+ "Options:\n"
+ "\t-x [count]\tHorizontal direction step (-10 | +10)\n"
+ "\t-y [count]\tVertical direction step (-10 | +10)\n", name);
+}
+
+int main(int argc, char **argv) {
+ int cnt = 0;
+ int dir = 0;
+ int opt = 0;
+
+ while ((opt = getopt(argc, argv, "hx:y:")) != -1) {
+ switch (opt) {
+ case 'h':
+ usage(argv[0]);
+ return -1;
+
+ case 'x':
+ cnt = atoi(optarg);
+ break;
+
+ case 'y':
+ dir = 1;
+ cnt = atoi(optarg);
+ break;
+
+ default:
+ return -1;
+ }
+ }
+
+ if (argc == 1 || argc != optind) {
+ usage(argv[0]);
+ return -1;
+ }
+
+ if (cnt > 10) {
+ cnt = 10;
+ }
+
+ if (cnt < -10) {
+ cnt = -10;
+ }
+
+ int c1 = (cnt < 0) ? cnt * 10 : 0;
+ int c2 = (cnt < 0) ? 0 : cnt * 10;
+ int d1 = (cnt < 0) ? 4 : 0;
+ int d2 = (cnt < 0) ? 8 : 4;
+
+ for (int i = c1; i < c2; i++) {
+ for (int j = d1; j < d2; j++) {
+ motor_control(dir, j);
+ }
+ }
+
+ motor_reset(dir);
+
+ return 0;
+}