Tcar：智能车之基于L298N电机驱动芯片的驱动模块

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2、电机驱动模块 - L298N电机驱动芯片
    // env/motor.zip
   两个直流电机，控制前轮的用于转向
                 控制后轮的用于前进后退
   编程，让用户方便的控制小车的运动

   2.1 电机的驱动
       硬件的接法：
           电机上需要的瞬间电流可能是安培级的
           而CPU上的管脚输出的电流是毫安级的
                 
        直流电机 步进电机 伺服电机
       
        L298N芯片 有 15个引脚，可以驱动 两台直流电机
           ENABLE A
           INPUT 1/2
           ENABLE B
           INPUT 3/4
       软件控制直流电机，就是控制L298N芯片
       如何控制L298N？
          M1正转： 
                  ENABLEA 高
                  INPUT1  高
                  INPUT2  低
       控制L298N 就是控制CPU上对应的管脚

    2.2 应用程序
       gui_client: 
           5个按钮
           点击按钮时给server 发不同的命令
              
       开发板上的server
           接收到命令
           根据不同的命令  
               open
               ioctl(...) 
           具体到小车 udp server 8000
                      30/31/32/33/34
// tcar_src.tar.gz/motor/app(应用) driver(驱动)
// 驱动代码基于S5PV210开发板编程的，非S5P6818

/* motor_drv.c - 基于S5PV210开发板连接的L298N芯片驱动 */
#include <linux/init.h>
#include <linux/module.h>
#include <linux/kernel.h>
#include <mach/gpio.h>
#include <asm/io.h>
#include <linux/timer.h>
#include <linux/delay.h>
#include <linux/fs.h>
#include <linux/miscdevice.h>#include "motor_cmd.h"#define TCAR_ENA    S5PV210_GPH3(2)
#define TCAR_IN1    S5PV210_GPH2(2)
#define TCAR_IN2    S5PV210_GPH3(1)
#define TCAR_ENB    S5PV210_GPH2(0)
#define TCAR_IN3    S5PV210_GPH2(1)
#define TCAR_IN4    S5PV210_GPH3(0)typedef struct _tcar_gpios
{unsigned int gpio_no;const char *name;
}tcar_gpios_t;tcar_gpios_t gpio_pins[] ={{.gpio_no = TCAR_ENA,.name   = "GPH3_2"},{.gpio_no = TCAR_IN1,.name   = "GPH2_2"},{.gpio_no = TCAR_IN2,.name   = "GPH3_1"},{.gpio_no = TCAR_ENB,.name   = "GPH2_0"},{.gpio_no = TCAR_IN3,.name   = "GPH2_1"},{.gpio_no = TCAR_IN4,.name   = "GPH3_0"},
};struct timer_list tcar_timer;void tcar_gpio_init(void)
{int pins_num;int i  = 0;pins_num = ARRAY_SIZE(gpio_pins);for(; i<pins_num; i++){gpio_request(gpio_pins[i].gpio_no, gpio_pins[i].name);gpio_direction_output(gpio_pins[i].gpio_no, 0);}
}static void tcar_forward(void)
{gpio_direction_output(gpio_pins[0].gpio_no,1);gpio_direction_output(gpio_pins[1].gpio_no,1);gpio_direction_output(gpio_pins[2].gpio_no,0);
}
static void tcar_backward(void)
{gpio_direction_output(gpio_pins[0].gpio_no,1);gpio_direction_output(gpio_pins[1].gpio_no,0);gpio_direction_output(gpio_pins[2].gpio_no,1);
}
#define TCAR_TIMER 10void tcar_timer_handler(unsigned long data)
{gpio_direction_output(gpio_pins[3].gpio_no,1);gpio_direction_output(gpio_pins[4].gpio_no,0);gpio_direction_output(gpio_pins[5].gpio_no,0);
}
static void tcar_left(void)
{gpio_direction_output(gpio_pins[3].gpio_no,1);gpio_direction_output(gpio_pins[4].gpio_no,1);gpio_direction_output(gpio_pins[5].gpio_no,0);tcar_timer.expires = jiffies + TCAR_TIMER;tcar_timer.function = tcar_timer_handler;tcar_timer.data = 0;add_timer(&tcar_timer);
}
static void tcar_right(void)
{gpio_direction_output(gpio_pins[3].gpio_no,1);gpio_direction_output(gpio_pins[4].gpio_no,0);gpio_direction_output(gpio_pins[5].gpio_no,1);tcar_timer.expires = jiffies + TCAR_TIMER;tcar_timer.function = tcar_timer_handler;tcar_timer.data = 0;add_timer(&tcar_timer);
}
static void tcar_stop(void)
{gpio_direction_output(gpio_pins[0].gpio_no,1);gpio_direction_output(gpio_pins[1].gpio_no,0);gpio_direction_output(gpio_pins[2].gpio_no,0);gpio_direction_output(gpio_pins[3].gpio_no,1);gpio_direction_output(gpio_pins[4].gpio_no,0);gpio_direction_output(gpio_pins[5].gpio_no,0);}
static int tcar_ioctl(struct inode *inode, struct file *file, unsigned int cmd, unsigned long val)
{switch (cmd){case TCAR_FORWARD:tcar_forward();break;case TCAR_BACKWARD:tcar_backward();break;case TCAR_LEFT:tcar_left();break;case TCAR_RIGHT:tcar_right();break;case TCAR_STOP:tcar_stop();break;default: printk("invaild arg!\n");break;}return 0;
}static struct file_operations tcar_fops =
{.owner = THIS_MODULE,.ioctl = tcar_ioctl,
};
static struct miscdevice tcar_miscdev = 
{.minor = MISC_DYNAMIC_MINOR,.name = "tcar",.fops = &tcar_fops,
};
static int tcar_init(void)
{/*申请使用的管脚*/tcar_gpio_init();misc_register(&tcar_miscdev);/*初始化定时器*/init_timer(&tcar_timer);return 0;
}
static void tcar_exit(void)
{int i = 0;int pins_num = ARRAY_SIZE(gpio_pins);del_timer(&tcar_timer);misc_deregister(&tcar_miscdev);for(; i<pins_num; i++){gpio_free(gpio_pins[i].gpio_no);}
}
module_init(tcar_init);
module_exit(tcar_exit);
MODULE_LICENSE("GPL");

/* udp_client.c */
#include "tcar.h"
#include "motor_cmd.h"int main()
{int sd = socket(PF_INET, SOCK_DGRAM, 0);struct sockaddr_in addr;addr.sin_family = PF_INET;addr.sin_port  = htons(PORT);addr.sin_addr.s_addr = inet_addr("192.168.1.6");int cmd = MOTOR_FORWARD;sendto(sd, &cmd, sizeof(cmd), 0, (struct sockaddr *)&addr, sizeof(addr));getchar();cmd = MOTOR_STOP;sendto(sd, &cmd, sizeof(cmd), 0, (struct sockaddr *)&addr, sizeof(addr));getchar();cmd = MOTOR_BACKWARD;sendto(sd, &cmd, sizeof(cmd), 0, (struct sockaddr *)&addr, sizeof(addr));getchar();cmd = MOTOR_STOP;sendto(sd, &cmd, sizeof(cmd), 0, (struct sockaddr *)&addr, sizeof(addr));getchar();cmd = MOTOR_LEFT;sendto(sd, &cmd, sizeof(cmd), 0, (struct sockaddr *)&addr, sizeof(addr));getchar();cmd = MOTOR_RIGHT;sendto(sd, &cmd, sizeof(cmd), 0, (struct sockaddr *)&addr, sizeof(addr));getchar();close(sd);
}

/* udp_server.c */
#include "tcar.h"
#include "motor_cmd.h"int main()
{int fd  = 0;static int to_down_up = 1500;static int to_right_left = 1500;int unit = 200;int sd =  socket(PF_INET, SOCK_DGRAM, 0);struct sockaddr_in addr;addr.sin_family = PF_INET;addr.sin_port   = htons(PORT);addr.sin_addr.s_addr = inet_addr("192.168.1.6");bind(sd, (const struct sockaddr *)&addr, sizeof(addr));while(1){int cmd = 0;struct sockaddr_in fromaddr;int len = sizeof(fromaddr);recvfrom(sd, &cmd, sizeof(cmd), 0, (struct sockaddr *)&fromaddr, &len);switch(cmd){case VIDEO_UP:to_down_up += unit;if(to_down_up >2500){to_down_up = 2500;}fd = open("/dev/mg995", O_RDWR);ioctl(fd, IDEX0, to_down_up);close(fd);break;case VIDEO_DOWN:to_down_up -= unit;if(to_down_up < 500){to_down_up = 500;}fd = open("/dev/mg995", O_RDWR);ioctl(fd, IDEX0, to_down_up);close(fd);break;case VIDEO_LEFT:to_right_left += unit;if(to_right_left >2500){to_right_left = 2500;}fd = open("/dev/mg995", O_RDWR);ioctl(fd, IDEX1, to_right_left);close(fd);break;case VIDEO_RIGHT:to_right_left -= unit;if(to_right_left < 500){to_right_left = 500;}fd = open("/dev/mg995", O_RDWR);ioctl(fd, IDEX1, to_right_left);close(fd);break;case MOTOR_FORWARD:fd = open("/dev/tcar", O_RDWR);ioctl(fd, TCAR_FORWARD);close(fd);break;case MOTOR_BACKWARD:fd = open("/dev/tcar", O_RDWR);ioctl(fd, TCAR_BACKWARD);close(fd);break;case MOTOR_LEFT:fd = open("/dev/tcar", O_RDWR);ioctl(fd, TCAR_LEFT);close(fd);break;case MOTOR_RIGHT:fd = open("/dev/tcar", O_RDWR);ioctl(fd, TCAR_RIGHT);close(fd);break;case MOTOR_STOP:fd = open("/dev/tcar", O_RDWR);ioctl(fd, TCAR_STOP);close(fd);break;default:break;}}
}

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