* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
* more details.
- *
*/
#include <linux/of.h>
#include <linux/of_device.h>
#define MAX_RAMP_FACTOR 15
#define MAX_PULSE_WIDTH 0x1fff
-extern struct class *stepper_class;
-
enum address_map {
MODE,
WDTOI,
SUBADDR2,
SUBADDR3,
ALLCALLADR,
+ STEPCOUNT0,
STEPCOUNT1,
STEPCOUNT2,
STEPCOUNT3,
struct pca9629a_stepper {
struct i2c_client *stepper_i2c;
struct stepper_device *stepper_dev;
+ u8 motor_state;
};
-
/*Send device commands to set the stepper motor direction*/
-static int stepper_set_direction(struct i2c_client *client, enum stepper_direction direction)
+static int stepper_set_direction(struct i2c_client *client,
+ enum stepper_direction direction)
{
struct i2c_adapter *adap = client->adapter;
+ struct pca9629a_stepper *stepper = i2c_get_clientdata(client);
int ret = 0;
unsigned char command[2], data;
struct i2c_msg msg[2] = {
.buf = &data,
},
};
+
command[0] = MCNTL;
ret = i2c_transfer(adap, msg, 2);
if (ret == 2) {
- if (direction == STEPPER_CLKWISE) {
- command[1] = data & (0xfc);
- } else if (direction == STEPPER_ANTI_CLKWISE) {
+ command[1] = data & (0xfc);
+ if (direction == STEPPER_ANTI_CLKWISE)
command[1] = data | 0x01;
- }
+
msg[0].len = 2;
ret = i2c_transfer(adap, msg, 1);
if (ret != 1) {
- dev_err(&client->dev, "%s: direction i2c trxfer error\n", __func__);
+ dev_err(&client->dev, "%s: direction i2c trxfer error\n",
+ __func__);
ret = -EIO;
} else {
+ /*update motor state*/
+ stepper->motor_state = command[1];
ret = 0;
}
} else {
return ret;
}
+
/*Enable the stepper motor*/
static int stepper_start(struct i2c_client *client)
{
struct i2c_adapter *adap = client->adapter;
+ struct pca9629a_stepper *stepper = i2c_get_clientdata(client);
int ret = 0;
- unsigned char command[2], data;
- struct i2c_msg msg[2] = {
- {
- .addr = client->addr,
- .flags = 0,
- .len = 1,
- .buf = &command[0],
- },
- {
- .addr = client->addr,
- .flags = I2C_M_RD,
- .len = 1,
- .buf = &data,
- },
+ unsigned char command[2];
+ struct i2c_msg msg = {
+ .addr = client->addr,
+ .flags = 0,
+ .len = 1,
+ .buf = &command[0],
};
- command[0] = MCNTL;
- ret = i2c_transfer(adap, msg, 2);
- if (ret == 2) {
- command[1] = data | 0x80;
- msg[0].len = 2;
- ret = i2c_transfer(adap, msg, 1);
- if (ret != 1) {
- ret = -EIO;
- } else {
- ret = 0;
- }
- } else {
- dev_err(&client->dev, "%s: i2c txfer failure\n", __func__);
- ret = -EIO;
- }
- return ret;
+ command[0] = MCNTL;
+ command[1] = stepper->motor_state | 0x80;
+ msg.len = 2;
+ ret = i2c_transfer(adap, &msg, 1);
+ if (ret != 1)
+ return -EIO;
+ else
+ return 0;
}
/*Restart the stepper motor with new parameters if it is already running*/
(MCNTL_MOTOR_START | MCNTL_MOTOR_RESTART);
msg[0].len = 2;
ret = i2c_transfer(adap, &msg[0], 1);
- if (ret != 1) {
+ if (ret != 1)
ret = -EIO;
- } else {
+ else
ret = 0;
- }
} else {
ret = -EINVAL;
}
msg[0].len = 2;
ret = i2c_transfer(adap, msg, 1);
if (ret != 1) {
- dev_err(&client->dev, "%s: i2c txfer failure\n", __func__);
+ dev_err(&client->dev, "%s: i2c txfer failure\n",
+ __func__);
ret = -EIO;
} else {
ret = 0;
}
return ret;
-
}
/*Immediately stop without caring for ramp down delay if enabled*/
};
command[0] = MCNTL;
ret = i2c_transfer(adap, msg, 2);
- if (ret == 2)
- {
+ if (ret == 2) {
command[1] = data | 0x20;
msg[0].len = 2;
ret = i2c_transfer(adap, msg, 1);
if (ret != 1) {
- dev_err(&client->dev,"%s: i2c txfer failure\n", __func__);
+ dev_err(&client->dev, "%s: i2c txfer failure\n",
+ __func__);
ret = -EIO;
} else {
ret = 0;
}
- } else
+ } else {
ret = -EIO;
+ }
return ret;
-
}
-/*Set step rate rate is input as percentage.
- range - 0 to 100
- rate is changed by changing the pulse width of both CW and CCW directions
- registers - 0x16, 0x17 for CW, 0x18, 0x19 for CCW.
- pulse width register has reserved 3 bits in MSB for prescaler.
- width = 2POW(prescaler)*(pulse width)
- lower the width, faster the stepping rate
- Min = 0 = 3usec
- Max = 0xffff = 3145728 usec = 3.146 sec
- Limiting the prescaler = 0, step granularity is 3us. Max = 1fff = 24573usec = 24.573ms
- rate = 0 = Max
- rate = 100 = Min
+/*
+ * Set step rate rate is input as percentage.
+ * range - 0 to 100
+ * rate is changed by changing the pulse width of both CW and CCW directions
+ * registers - 0x16, 0x17 for CW, 0x18, 0x19 for CCW.
+ * pulse width register has reserved 3 bits in MSB for prescaler.
+ * width = 2POW(prescaler)*(pulse width)
+ * lower the width, faster the stepping rate
+ * Min = 0 = 3usec
+ * Max = 0xffff = 3145728 usec = 3.146 sec
+ * Limiting the prescaler = 0, step granularity is 3us. Max = 1fff = 24573usec
+ * rate = 0 = Max
+ * rate = 100 = Min
*/
-static int stepper_set_rate(struct i2c_client *client, int rate, bool is_continuous)
+static int stepper_set_rate(struct i2c_client *client, int rate,
+ bool is_continuous)
{
struct i2c_adapter *adap = client->adapter;
- int ret = -1;
+ int ret = -EINVAL;
unsigned short width;
unsigned char command[5];
struct i2c_msg msg = {
return -1;
command[0] = CWPWL | 0x80;
- width = (unsigned short) MAX_PULSE_WIDTH - (unsigned short)(rate *MAX_PULSE_WIDTH / 100);
- command[1] = command[3] = width & 0xff;
- command[2] = command[4] = (width & 0xff00) >> 8;
+ width = (unsigned short)MAX_PULSE_WIDTH -
+ (unsigned short)(rate * MAX_PULSE_WIDTH / 100);
+ command[1] = width & 0xff;
+ command[3] = width & 0xff;
+ command[2] = (width & 0xff00) >> 8;
+ command[4] = (width & 0xff00) >> 8;
+
ret = i2c_transfer(adap, &msg, 1);
if (ret == 1) {
- if (is_continuous) {
+ if (is_continuous)
ret = stepper_restart(client);
- } else
+ else
ret = 0;
} else {
- ret = -1;
+ ret = -EIO;
}
return ret;
{
struct i2c_adapter *adap = client->adapter;
int ret = 0;
- unsigned char data;
- unsigned char parameters[32] = {
- 0x80,
- 0x20, 0x00, 0x00, 0x03, 0x13,
- 0x1c, 0x00, 0x00, 0x68, 0x00,
- 0x00, 0x50, 0x80, 0x35, 0x35,
- 0x00, 0x00, 0x00, 0xff, 0xff,
- 0xff, 0xff, 0x0a, 0x1a, 0x0a,
- 0x1a, 0xc0, 0xe2, 0xe4, 0xe6,
- 0xe0
+ struct i2c_msg msg;
+ unsigned char reset_regs[MAX_REG + 1] = {
+ 0x80,/*address of the first register with auto increment*/
+ 0x00, 0x00, 0x00,
+ 0x03/*reg-0x03 -P0 and P1 as inputs*/,
+ 0x13/*reg-0x04 -P0 and P1 interrupt on falling edge*/,
+ 0x1f/*reg-0x05 -mask all interrupts*/,
+ 0x00, 0x00,
+ 0x68/*reg-0x08 -interrupt based control*/,
+ 0x00, 0x00/*reg-0x09 & 0x0a -extra steps*/,
+ 0x50/*reg-0x0b -output config and motor type selection*/,
+ 0x80,
+ 0x35, 0x35/*reg-0x0d & 0x0e -ramp control*/,
+ 0x00, 0x00, 0x00,
+ /*step count registers - reg-0x12, 0x13, 0x14, 0x15*/
+ 0x01, 0x00, 0x01, 0x00,
+ /*pulse width configuration - reg-0x16, 0x17, 0x18, 0x19*/
+ 0x0a, 0x1a, 0x0a, 0x1a,
+ 0xc0/*reg-0x1a -motor control- start motor*/,
+ 0xe2, 0xe4, 0xe6, 0xe0,
+ 0x00, 0x00, 0x00, 0x00
};
- struct i2c_msg msg[2];
+
+
+ /*Set motor parameters*/
+ msg.addr = client->addr;
+ msg.flags = 0;
+ /*All register values prefixed with register index*/
+ msg.len = MAX_REG + 1;
+ msg.buf = reset_regs;
/*Reset the device*/
- msg[0].addr = 0;
- msg[0].flags = 0;
- msg[0].len = 1;
- msg[0].buf = &data;
- data = 0x06;
- ret = i2c_transfer(adap, msg, 1);
- if (ret == 1) {
- /*Set motor parameters*/
- msg[0].addr = client->addr;
- msg[0].flags = 0;
- msg[0].len = 32;
- msg[0].buf = parameters;
- ret = i2c_transfer(adap, msg, 1);
- if (ret != 32) {
- ret = -1;
- } else {
- ret = 0;
- }
- } else {
- ret = -1;
- }
+ ret = i2c_transfer(adap, &msg, 1);
+
return ret;
}
static int stepper_send(struct i2c_client *client, const char *buf, size_t len)
{
struct i2c_adapter *adap = client->adapter;
- char data[50];
+ char *data;
int ret = 0;
struct i2c_msg msg = {
.addr = client->addr,
.flags = 0,
.len = len,
- .buf = data,
};
- if (data == NULL)
+
+ data = devm_kzalloc(&client->dev, 50, GFP_KERNEL);
+ if (!data)
return -ENOMEM;
+ msg.buf = data;
memcpy(data, buf, len);
/*Set address auto-increment flag*/
data[0] |= 0x80;
dev_err(&client->dev, "%s: i2c txfer failure\n", __func__);
ret = -EIO;
}
+ devm_kfree(&client->dev, data);
return ret;
}
-static int stepper_receive(struct i2c_client *client, int offset, char *buf, size_t len)
+static int stepper_receive(struct i2c_client *client, loff_t offset, char *buf,
+ size_t len)
{
struct i2c_adapter *adap = client->adapter;
int ret = 0, i;
- char command = 0x80 | offset;
- char data[50];
+ char command = 0x80 | (unsigned char)offset;
+ char *data;
struct i2c_msg msg[2] = {
{
.addr = client->addr,
.addr = client->addr,
.flags = I2C_M_RD,
.len = len,
- .buf = data,
},
};
if (len > MAX_REG)
len = MAX_REG;
- if (data == NULL)
+ data = devm_kzalloc(&client->dev, len, GFP_KERNEL);
+ if (!data)
return -ENOMEM;
+ msg[1].buf = data;
ret = i2c_transfer(adap, &msg[0], 2);
if (ret == 2) {
ret = 0;
buf[i] = data[i];
} else {
dev_err(&client->dev, "%s: i2c txfer failure\n", __func__);
- ret = -1;
+ ret = -EIO;
}
+ devm_kfree(&client->dev, data);
return ret;
}
{
return 0;
}
+
int pca9629a_stepper_release(struct device *dev)
{
return 0;
}
-int pca9629a_stepper_ioctl(struct device *dev, unsigned int attr, unsigned long val)
+
+int pca9629a_stepper_ioctl(struct device *dev, unsigned int attr,
+ unsigned long val)
{
switch (attr) {
case 1/*start*/:
break;
case 3:/*direction*/
if (val == 0)
- stepper_set_direction(to_i2c_client(dev->parent), STEPPER_CLKWISE);
+ stepper_set_direction(to_i2c_client(dev->parent),
+ STEPPER_CLKWISE);
else
- stepper_set_direction(to_i2c_client(dev->parent), STEPPER_ANTI_CLKWISE);
+ stepper_set_direction(to_i2c_client(dev->parent),
+ STEPPER_ANTI_CLKWISE);
break;
case 4/*Emergency stop*/:
stepper_emergency_stop(to_i2c_client(dev->parent));
return 0;
}
+
int pca9629a_stepper_write(struct device *dev, const char *buf, size_t len)
{
int ret = stepper_send(to_i2c_client(dev->parent), buf, len);
int pca9629a_stepper_read(struct device *dev, char *buf, size_t len)
{
struct stepper_device *stepper = to_stepper_device(dev);
- int ret = stepper_receive(to_i2c_client(dev->parent), stepper->offset, buf, len);
+ int ret = stepper_receive(to_i2c_client(dev->parent), stepper->offset,
+ buf, len);
return ret;
}
return ret;
}
-int pca9629a_stepper_set_rate(struct device *dev, int val, enum stepper_rate_ramp immediate)
+int pca9629a_stepper_set_rate(struct device *dev, int val,
+ enum stepper_rate_ramp immediate)
{
bool is_continuous;
int ret;
+
if (immediate == STEPPER_RATE_CONTINUOUS)
is_continuous = 1;
else
return ret;
}
-int pca9629a_stepper_set_ramp(struct device *dev, int val, enum stepper_ramp_mode mode)
+int pca9629a_stepper_set_ramp(struct device *dev, int val,
+ enum stepper_ramp_mode mode)
{
char buff[2];
int ret;
- buff[1] = 0x30 | (unsigned char)((val * MAX_RAMP_FACTOR)/100);
+
+ buff[1] = 0x30 | (unsigned char)((val * MAX_RAMP_FACTOR) / 100);
if (mode == STEPPER_RAMP_UP)
buff[0] = RUCNTL;
else
return ret;
}
-int pca9629a_stepper_get_param(struct device *dev, enum stepper_param param, int offset)
+int pca9629a_stepper_get_param(struct device *dev, enum stepper_param param,
+ loff_t offset)
{
- int ret = -1, reg = 0, err = -1, val2 = 0;
- char data[4];
+ int ret = -EINVAL, reg = 0, err = -EINVAL, val2 = 0;
+ char data[4] = {0, 0, 0, 0};
+ struct pca9629a_stepper *stepper =
+ i2c_get_clientdata(to_i2c_client(dev->parent));
+
switch (param) {
case STEPPER_STATUS:
reg = IP;
err = stepper_receive(to_i2c_client(dev->parent), reg, data, 1);
- if (err != 0)
- ret = 2;
+ if (err)
+ ret = err;
else
ret = *((int *)(&data[0]));
break;
case STEPPER_START:
reg = MCNTL;
err = stepper_receive(to_i2c_client(dev->parent), reg, data, 1);
- if (err != 0)
- ret = 2;
+ if (err)
+ ret = err;
else
ret = *((int *)(&data[0]));
break;
case STEPPER_CW_RATE:
reg = CWPWL;
- err = stepper_receive(to_i2c_client(dev->parent), reg, (char *)&ret, 2);
- if (err == 0) {
- ret = ret & 0x1fff;
- ret = MAX_PULSE_WIDTH - ret;
+ err = stepper_receive(to_i2c_client(dev->parent), reg,
+ (char *)&ret, 2);
+ if (err) {
+ ret = err;
goto exit;
}
- ret = -1;
+ ret = ret & 0x1fff;
+ ret = MAX_PULSE_WIDTH - ret;
break;
case STEPPER_CCW_RATE:
reg = CCWPWL;
- err = stepper_receive(to_i2c_client(dev->parent), reg, (char *)&ret, 2);
- if (err == 0) {
- ret = ret & 0x1fff;
- ret = MAX_PULSE_WIDTH - ret;
+ err = stepper_receive(to_i2c_client(dev->parent), reg,
+ (char *)&ret, 2);
+ if (err) {
+ ret = err;
goto exit;
}
- ret = -1;
+ ret = ret & 0x1fff;
+ ret = MAX_PULSE_WIDTH - ret;
break;
case STEPPER_MAX_RATE:
ret = MAX_PULSE_WIDTH;
break;
case STEPPER_RAMPUP_VAL:
reg = RUCNTL;
- err = stepper_receive(to_i2c_client(dev->parent), reg, (char *)&ret, 1);
- if (err == 0) {
- ret = ret & 0x0f;
+ err = stepper_receive(to_i2c_client(dev->parent), reg,
+ (char *)&ret, 1);
+ if (err) {
+ ret = err;
goto exit;
}
+ ret = ret & 0x0f;
break;
case STEPPER_RAMPDOWN_VAL:
reg = RDCNTL;
- err = stepper_receive(to_i2c_client(dev->parent), reg, (char *)&ret, 1);
- if (err == 0) {
- ret = ret & 0x0f;
+ err = stepper_receive(to_i2c_client(dev->parent), reg,
+ (char *)&ret, 1);
+ if (err) {
+ ret = err;
goto exit;
}
+ ret = ret & 0x0f;
break;
case STEPPER_DIRECTION:
reg = MCNTL;
- err = stepper_receive(to_i2c_client(dev->parent), reg, (char *)&ret, 1);
- if (err == 0) {
- ret = ret & 0x01;
+ err = stepper_receive(to_i2c_client(dev->parent), reg,
+ (char *)&ret, 1);
+ if (err) {
+ ret = err;
goto exit;
}
+ ret = ret & 0x01;
+ /*update motor state*/
+ stepper->motor_state = ret;
break;
case STEPPER_CW_STEPS:
reg = CWSCOUNTL;
- err = stepper_receive(to_i2c_client(dev->parent), reg, (char *)&ret, 2);
- if (err == 0) {
- ret = ret & 0xffff;
+ err = stepper_receive(to_i2c_client(dev->parent), reg,
+ (char *)&ret, 2);
+ if (err) {
+ ret = err;
goto exit;
}
-
+ ret = ret & 0xffff;
break;
case STEPPER_CCW_STEPS:
reg = CCWSCOUNTL;
- err = stepper_receive(to_i2c_client(dev->parent), reg, (char *)&ret, 2);
- if (err == 0) {
- ret = ret & 0xffff;
+ err = stepper_receive(to_i2c_client(dev->parent), reg,
+ (char *)&ret, 2);
+ if (err) {
+ ret = err;
goto exit;
}
-
+ ret = ret & 0xffff;
break;
case STEPPER_MODE:
reg = MCNTL;
- err = stepper_receive(to_i2c_client(dev->parent), reg, (char *)&ret, 1);
- if (err == 0) {
- /*Read PMA*/
- reg = PMA;
- err = stepper_receive(to_i2c_client(dev->parent), reg, (char *)&val2, 1);
- if (err) {
- ret = -1;
- goto exit;
- }
+ err = stepper_receive(to_i2c_client(dev->parent), reg,
+ (char *)&ret, 1);
+ if (err) {
+ ret = err;
+ goto exit;
+ }
+ /*update motor state*/
+ stepper->motor_state = ret;
+ /*Read PMA*/
+ reg = PMA;
+ err = stepper_receive(to_i2c_client(dev->parent), reg,
+ (char *)&val2, 1);
+ if (err) {
+ ret = err;
+ goto exit;
+ }
- if (val2 & 0xff)
- ret = STEPPER_FINITE_STEPS;
- else {
- if ((ret & 0x03) >= 0x02) {
- if (ret & 0x01)
- ret = STEPPER_CCW_THEN_CW;
- else
- ret = STEPPER_CW_THEN_CCW;
- } else
- ret = STEPPER_CONTINUOUS;
+ if (val2 & 0xff) {
+ ret = STEPPER_FINITE_STEPS;
+ } else {
+ if ((ret & 0x03) >= 0x02) {
+ if (ret & 0x01)
+ ret = STEPPER_CCW_THEN_CW;
+ else
+ ret = STEPPER_CW_THEN_CCW;
+ } else {
+ ret = STEPPER_CONTINUOUS;
}
}
break;
case STEPPER_REG_OP:
if ((offset < MAX_REG) && (offset >= 0)) {
- ret = stepper_receive(to_i2c_client(dev->parent), offset, (char *)&val2, 1);
- if (!ret)
- ret = val2;
+ err = stepper_receive(to_i2c_client(dev->parent),
+ offset, (char *)&val2, 1);
+ if (err)
+ ret = err;
else
- ret = -1;
+ ret = val2;
}
break;
default:
return ret;
}
-int pca9629a_stepper_set_param(struct device *dev, enum stepper_param param, int offset, int value)
+int pca9629a_stepper_set_param(struct device *dev, enum stepper_param param,
+ loff_t offset, int value)
{
- int ret = -1, reg = 0, err = -1, val2 = 0;
+ int ret = -EINVAL, reg = 0, err = -EINVAL, val2 = 0;
char *buf;
+ struct pca9629a_stepper *stepper =
+ i2c_get_clientdata(to_i2c_client(dev->parent));
buf = devm_kzalloc(dev, 10, GFP_KERNEL);
- if (buf == NULL)
+ if (!buf)
return -ENOMEM;
switch (param) {
buf[2] = (val2 >> 8) & 0x1f;
buf[0] = CWPWL | 0x80;
ret = stepper_send(to_i2c_client(dev->parent), buf, 3);
- if (ret != 0)
+ if (ret)
goto exit;
reg = MCNTL;
- err = stepper_receive(to_i2c_client(dev->parent), reg, (char *)&val2, 1);
- if (err == 0) {
- buf[0] = reg;
- buf[1] = (val2 & 0xff) | 0x40;/*Restart with updated rate*/
- ret = stepper_send(to_i2c_client(dev->parent), buf, 2);
+ err = stepper_receive(to_i2c_client(dev->parent), reg,
+ (char *)&val2, 1);
+ if (err) {
+ ret = err;
goto exit;
}
- ret = -1;
+ buf[0] = reg;/*Restart with updated rate*/
+ buf[1] = (val2 & 0xff) | 0x40;
+ ret = stepper_send(to_i2c_client(dev->parent), buf, 2);
break;
case STEPPER_CCW_RATE:
/*Value will be limited to MAX_PULSE_WIDTH = 0x1fff*/
buf[2] = (val2 >> 8) & 0x1f;
buf[0] = CCWPWL | 0x80;
ret = stepper_send(to_i2c_client(dev->parent), buf, 3);
- if (ret != 0)
+ if (ret)
goto exit;
reg = MCNTL;
- err = stepper_receive(to_i2c_client(dev->parent), reg, (char *)&val2, 1);
- if (err == 0) {
- buf[0] = reg;
- buf[1] = (val2 & 0xff) | 0x40;/*Restart with updated rate*/
- ret = stepper_send(to_i2c_client(dev->parent), buf, 2);
+ ret = stepper_receive(to_i2c_client(dev->parent), reg,
+ (char *)&val2, 1);
+ if (ret)
goto exit;
- }
- ret = -1;
-
+ buf[0] = reg;/*Restart with updated rate*/
+ buf[1] = (val2 & 0xff) | 0x40;
+ ret = stepper_send(to_i2c_client(dev->parent), buf, 2);
break;
case STEPPER_RAMPUP_VAL:
+ if (value > 0x0f)
+ goto exit;
buf[0] = RUCNTL;
buf[1] = (value & 0x0f) | 0x30;/*Enable immediately*/
ret = stepper_send(to_i2c_client(dev->parent), buf, 2);
break;
case STEPPER_RAMPDOWN_VAL:
+ if (value > 0x0f)
+ goto exit;
buf[0] = RDCNTL;
buf[1] = (value & 0x0f) | 0x30;/*Enable immediately*/
ret = stepper_send(to_i2c_client(dev->parent), buf, 2);
break;
case STEPPER_DIRECTION:
buf[0] = MCNTL;
- err = stepper_receive(to_i2c_client(dev->parent), buf[0], (char *)&ret, 1);
- if (err == 0) {
- buf[1] = (ret & 0xfe) | value;
- ret = stepper_send(to_i2c_client(dev->parent), buf, 2);
+ err = stepper_receive(to_i2c_client(dev->parent), buf[0],
+ (char *)&ret, 1);
+ if (err) {
+ ret = err;
+ goto exit;
}
+ buf[1] = (ret & 0xfe) | value;
+ /*update motor state*/
+ stepper->motor_state = buf[1];
+ ret = stepper_send(to_i2c_client(dev->parent), buf, 2);
break;
case STEPPER_CW_STEPS:
buf[0] = CWSCOUNTL;
ret = stepper_send(to_i2c_client(dev->parent), buf, 3);
break;
case STEPPER_MODE:
+ if (value > STEPPER_FINITE_STEPS)
+ goto exit;
reg = MCNTL;
- err = stepper_receive(to_i2c_client(dev->parent), reg, (char *)&ret, 1);
- if (err == 0) {
- buf[0] = reg;
- if (value == STEPPER_CONTINUOUS)
- buf[1] = (ret & 0xfd);
- else if (value == STEPPER_CW_THEN_CCW)
- buf[1] = (ret & 0xfc) | 0x02;
- else if (value == STEPPER_CCW_THEN_CW)
- buf[1] = (ret & 0xfc) | 0x03;
- else
- buf[1] = ret & 0xff;
-
- err = stepper_send(to_i2c_client(dev->parent), buf, 2);
- if (err) {
- ret = -1;
- goto exit;
- }
- /*write PMA*/
- buf[0] = PMA;
- if (value == STEPPER_CONTINUOUS)
- buf[1] = 0;
- else if (value == STEPPER_CW_THEN_CCW)
- buf[1] = 0;
- else if (value == STEPPER_CCW_THEN_CW)
- buf[1] = 0;
- else
- buf[1] = 1;
+ err = stepper_receive(to_i2c_client(dev->parent), reg,
+ (char *)&ret, 1);
+ if (err) {
+ ret = err;
+ goto exit;
+ }
+ buf[0] = reg;
+ if (value == STEPPER_CONTINUOUS)
+ buf[1] = (ret & 0xfd);
+ else if (value == STEPPER_CW_THEN_CCW)
+ buf[1] = (ret & 0xfc) | 0x02;
+ else if (value == STEPPER_CCW_THEN_CW)
+ buf[1] = (ret & 0xfc) | 0x03;
+ else
+ buf[1] = ret & 0xff;
- err = stepper_send(to_i2c_client(dev->parent), buf, 2);
- if (err) {
- ret = -1;
- goto exit;
- }
+ err = stepper_send(to_i2c_client(dev->parent), buf, 2);
+ if (err) {
+ ret = err;
+ goto exit;
}
+ stepper->motor_state = buf[1];
+ /*write PMA*/
+ buf[0] = PMA;
+ if (value == STEPPER_CONTINUOUS)
+ buf[1] = 0;
+ else if (value == STEPPER_CW_THEN_CCW)
+ buf[1] = 0;
+ else if (value == STEPPER_CCW_THEN_CW)
+ buf[1] = 0;
+ else
+ buf[1] = 1;
+ err = stepper_send(to_i2c_client(dev->parent), buf, 2);
+ ret = err;
break;
case STEPPER_EMERGENCY:
- stepper_emergency_stop(to_i2c_client(dev->parent));
+ ret = stepper_emergency_stop(to_i2c_client(dev->parent));
break;
case STEPPER_REG_OP:
if ((offset < MAX_REG) && (offset >= 0)) {
devm_kfree(dev, buf);
return ret;
}
+
static const struct stepper_ops pca9629a_stepper_ops = {
.open = pca9629a_stepper_open,
.release = pca9629a_stepper_release,
.set_param = pca9629a_stepper_set_param
};
-
-static int pca9629a_stepper_probe(struct i2c_client *client, const struct i2c_device_id *id)
+static int pca9629a_stepper_probe(struct i2c_client *client,
+ const struct i2c_device_id *id)
{
struct pca9629a_stepper *stepper;
- int err = 0;
- stepper = devm_kzalloc(&client->dev, sizeof(struct pca9629a_stepper), GFP_KERNEL);
- if (!stepper) {
- dev_err(&client->dev, "Error assigning memory for pca9629a_stepper\n");
+ stepper = devm_kzalloc(&client->dev, sizeof(struct pca9629a_stepper),
+ GFP_KERNEL);
+ if (!stepper)
return -ENOMEM;
- }
i2c_set_clientdata(client, stepper);
- stepper->stepper_dev = stepper_device_register(client->name, &client->dev, &pca9629a_stepper_ops, THIS_MODULE);
+ stepper->stepper_dev = stepper_device_register(client->name,
+ &client->dev,
+ &pca9629a_stepper_ops,
+ THIS_MODULE);
if (!stepper->stepper_dev)
return -ENODEV;
- if (&stepper->stepper_dev->chardev == NULL) {
- goto err;
- err = -ENODEV;
- }
+ if (!(&stepper->stepper_dev->chardev))
+ return -ENODEV;
+
stepper_reset(client);
-err:
- return err;
+ return 0;
}
static int pca9629a_stepper_remove(struct i2c_client *client)
{
struct pca9629a_stepper *stepper;
+
stepper = i2c_get_clientdata(client);
stepper->stepper_dev->ops->ioctl(&stepper->stepper_dev->dev, 1, 0);
stepper_device_remove(stepper->stepper_dev);
return 0;
}
+
static struct i2c_device_id stepper_id_table[] = {
{"stepper_pca", 0},
{}
};
MODULE_DEVICE_TABLE(i2c, stepper_id_table);
+
static const struct of_device_id stepper_dt_ids[] = {
{.compatible = "stepper_pca", },
{}
projects / hercules2020 / nv-tegra / linux-4.4.git / commitdiff