Add a new T31 kernel module for motors. (#913)

br-ext-chip-ingenic/configs/t31_ultimate_defconfig

@@ -108,6 +108,9 @@ BR2_PACKAGE_INGENIC_ATBM603X_SDIO_T31_MMC0=y
 BR2_PACKAGE_INGENIC_ATBM603X_SDIO_T31_MMC1=y
 # BR2_PACKAGE_RTL8188EU is not set
 
+# Motors
+BR2_PACKAGE_INGENIC_MOTORS_T31=y
+
 # WIREGUARD
 BR2_PACKAGE_WIREGUARD_LINUX_COMPAT=y
 BR2_PACKAGE_WIREGUARD_TOOLS=y

general/package/Config.in

@@ -31,6 +31,7 @@ source "$BR2_EXTERNAL_GENERAL_PATH/package/hisilicon-osdrv-hi3516ev200/Config.in
 source "$BR2_EXTERNAL_GENERAL_PATH/package/hisilicon-osdrv-hi3519v101/Config.in"
 source "$BR2_EXTERNAL_GENERAL_PATH/package/hisilicon-osdrv-hi3536dv100/Config.in"
 source "$BR2_EXTERNAL_GENERAL_PATH/package/i2c-telemetry/Config.in"
+source "$BR2_EXTERNAL_GENERAL_PATH/package/ingenic-motors-t31/Config.in"
 source "$BR2_EXTERNAL_GENERAL_PATH/package/ingenic-atbm603x-sdio-t31/Config.in"
 source "$BR2_EXTERNAL_GENERAL_PATH/package/ingenic-opensdk/Config.in"
 source "$BR2_EXTERNAL_GENERAL_PATH/package/ingenic-osdrv-t20/Config.in"

general/package/ingenic-motors-t31/Config.in

@@ -0,0 +1,8 @@
+config BR2_PACKAGE_INGENIC_MOTORS_T31
+	bool "ingenic-motors-t31"
+	depends on BR2_LINUX_KERNEL
+	help
+	  Motor driver for Ingenic T31 using TCU2.2.
+
+comment "ingenic-motors-t31 needs a Linux kernel to be built"
+	depends on !BR2_LINUX_KERNEL

general/package/ingenic-motors-t31/ingenic-motors-t31.mk

@@ -0,0 +1,18 @@
+################################################################################
+#
+# AltoBeam INGENIC_MOTORS_T31 wifi driver
+#
+################################################################################
+
+INGENIC_MOTORS_T31_LICENSE = GPL-2.0
+
+define INGENIC_MOTORS_T31_EXTRACT_CMDS
+	cp -av $(INGENIC_MOTORS_T31_PKGDIR)/src/* $(@D)/
+endef
+
+INGENIC_MOTORS_T31_MODULE_MAKE_OPTS = \
+	KVER=$(LINUX_VERSION_PROBED) \
+	KSRC=$(LINUX_DIR)
+
+$(eval $(kernel-module))
+$(eval $(generic-package))

general/package/ingenic-motors-t31/src/Makefile

@@ -0,0 +1,36 @@
+#CROSS_COMPILE ?= mips-linux-gnu-
+#KDIR := ${ISVP_ENV_KERNEL_DIR}
+
+############################################################################
+
+PWD:=$(shell pwd)
+INSTALL_DIR := $(PWD)/output
+
+DEFS =
+
+MOTORS_NAME := sample_motor
+
+$(MOTORS_NAME)-objs := motor.o
+obj-m := $(MOTORS_NAME).o
+
+
+EXTRA_CFLAGS := $(DEFS)
+
+all: modules install
+
+modules: clean
+	$(MAKE) ARCH=$(ARCH) CROSS_COMPILE=$(CROSS_COMPILE) -C $(KDIR) M=$(shell pwd) modules -j8
+
+strip:
+	$(CROSS_COMPILE)strip $(INSTALL_DIR)/*.ko --strip-unneeded
+
+install: modules
+	mkdir -p $(INSTALL_DIR)
+	chmod 777 $(INSTALL_DIR)
+	cp *.ko $(INSTALL_DIR)
+
+clean:
+	@rm -rf *.o *~ .depend .*.cmd  *.mod.c .tmp_versions *.ko *.symvers modules.order
+	make -C $(KDIR) M=$(PWD) ARCH=$(ARCH) clean
+
+.PHONY: modules clean

general/package/ingenic-motors-t31/src/motor.h

@@ -0,0 +1,161 @@
+/*
+ * Copyright (C) 2015 Ingenic Semiconductor Co.,Ltd
+ *
+ * This software is licensed under the terms of the GNU General Public
+ * License version 2, as published by the Free Software Foundation, and
+ * may be copied, distributed, and modified under those terms.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ */
+
+#ifndef __MOTOR_H__
+#define __MOTOR_H__
+
+#include <linux/wait.h>
+#include <linux/spinlock.h>
+#include <linux/seq_file.h>
+#include <linux/proc_fs.h>
+#include <jz_proc.h>
+/*
+ *  HORIZONTAL is X axis and VERTICAL is Y axis;
+ *  while the Zero point is left-bottom, Origin point
+ *  is cross point of horizontal midpoint and vertical midpoint.
+ *
+*/
+
+
+/*#define PLATFORM_HAS_HORIZONTAL_MOTOR 	1*/
+/*#define PLATFORM_HAS_VERTICAL_MOTOR 	1*/
+
+enum jz_motor_cnt {
+	HORIZONTAL_MOTOR,
+	VERTICAL_MOTOR,
+	HAS_MOTOR_CNT,
+};
+
+/* ioctl cmd */
+#define MOTOR_STOP		0x1
+#define MOTOR_RESET		0x2
+#define MOTOR_MOVE		0x3
+#define MOTOR_GET_STATUS	0x4
+#define MOTOR_SPEED		0x5
+#define MOTOR_GOBACK	0x6
+#define MOTOR_CRUISE	0x7
+#define MOTOR_GET_MAXSTEPS 0x8
+
+/* motor speed */
+#define MOTOR_MAX_SPEED	900		/**< unit: beats per second */
+#define MOTOR_MIN_SPEED	100
+
+enum motor_status {
+	MOTOR_IS_STOP,
+	MOTOR_IS_RUNNING,
+};
+
+struct motor_message {
+	int x;
+	int y;
+	enum motor_status status;
+	int speed;
+	unsigned int x_max_steps;
+	unsigned int y_max_steps;
+};
+
+struct motors_steps{
+	int x;
+	int y;
+};
+
+struct motor_reset_data {
+	unsigned int x_max_steps;
+	unsigned int y_max_steps;
+	unsigned int x_cur_step;
+	unsigned int y_cur_step;
+};
+
+enum motor_direction {
+	MOTOR_MOVE_LEFT_DOWN = -1,
+	MOTOR_MOVE_STOP,
+	MOTOR_MOVE_RIGHT_UP,
+};
+
+struct motor_platform_data {
+	const char name[32];
+	int motor_min_gpio;
+	int motor_max_gpio;
+	int motor_gpio_level;
+
+	int motor_st1_gpio;
+	int motor_st2_gpio;
+	int motor_st3_gpio;
+	int motor_st4_gpio;
+};
+
+enum motor_ops_state {
+	MOTOR_OPS_NORMAL,
+	MOTOR_OPS_CRUISE,
+	MOTOR_OPS_RESET,
+	MOTOR_OPS_STOP,
+};
+
+struct motor_driver {
+	struct motor_platform_data *pdata;
+	int max_pos_irq;
+	int min_pos_irq;
+	int max_steps;	/* It is right-top point when x is max and y is max.*/
+	int cur_steps;	/* It is left-bottom point when x is 0 and y is 0.*/
+	int total_steps;
+	char reset_min_pos;
+	char reset_max_pos;
+	enum motor_direction move_dir;
+	enum motor_ops_state state;
+	struct completion reset_completion;
+
+	struct timer_list min_timer;
+	struct timer_list max_timer;
+	/* debug parameters */
+	unsigned int max_pos_irq_cnt;
+	unsigned int min_pos_irq_cnt;
+};
+
+struct motor_move {
+	struct motors_steps one;
+	short times;
+};
+
+struct motor_device {
+	struct platform_device *pdev;
+	const struct mfd_cell *cell;
+	struct device	 *dev;
+	struct miscdevice misc_dev;
+	struct motor_driver motors[HAS_MOTOR_CNT];
+	char *skip_mode;
+	unsigned int counter;
+	struct completion stop_completion;
+	unsigned int wait_stop;
+#ifdef CONFIG_SOC_T40
+	struct ingenic_tcu_chn *tcu;
+#else
+	struct jz_tcu_chn *tcu;
+#endif
+	int tcu_speed;
+
+	struct mutex dev_mutex;
+	spinlock_t slock;
+
+	enum motor_ops_state dev_state;
+	struct motor_message msg;
+	struct motor_move dst_move;
+	struct motor_move cur_move;
+
+	int run_step_irq;
+	int flag;
+
+	/* debug parameters */
+	struct proc_dir_entry *proc;
+};
+
+#endif // __MOTOR_H__

general/package/motors/motors.mk

@@ -21,6 +21,7 @@ define MOTORS_BUILD_CMDS
 	(cd $(@D)/i2c-motor; $(TARGET_CC) -Os -s main.c -o i2c-motor)
 	(cd $(@D)/xm-kmotor; $(TARGET_CC) -Os -s main.c -o xm-kmotor)
 	(cd $(@D)/xm-uart; $(TARGET_CC) -Os -s main.c -o xm-uart)
+	(cd $(@D)/t31-kmotor; $(TARGET_CC) -Os -s main.c -o t31-kmotor)
 endef
 
 define MOTORS_INSTALL_TARGET_CMDS
@@ -28,6 +29,7 @@ define MOTORS_INSTALL_TARGET_CMDS
 	$(INSTALL) -m 0755 -D $(@D)/i2c-motor/i2c-motor $(TARGET_DIR)/usr/bin/i2c-motor
 	$(INSTALL) -m 0755 -D $(@D)/xm-kmotor/xm-kmotor $(TARGET_DIR)/usr/bin/xm-kmotor
 	$(INSTALL) -m 0755 -D $(@D)/xm-uart/xm-uart $(TARGET_DIR)/usr/bin/xm-uart
+	$(INSTALL) -m 0755 -D $(@D)/t31-kmotor/t31-kmotor $(TARGET_DIR)/usr/bin/t31-kmotor
 endef
 
 $(eval $(generic-package))