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HYL_OK3568_LINUX/kernel-rt/drivers/media/spi/ms41908.c
HYL c6e7b553e6 first commit
2025-05-10 21:49:39 +08:00

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// SPDX-License-Identifier: GPL-2.0
/*
* motor driver
*
* Copyright (C) 2020 Rockchip Electronics Co., Ltd.
*
*/
//#define DEBUG
#include <linux/io.h>
#include <linux/of_gpio.h>
#include <linux/module.h>
#include <linux/init.h>
#include <linux/device.h>
#include <linux/fb.h>
#include <linux/interrupt.h>
#include <linux/kernel.h>
#include <linux/gpio/consumer.h>
#include <linux/of_irq.h>
#include <linux/platform_device.h>
#include <linux/wakelock.h>
#include <linux/hrtimer.h>
#include <linux/pwm.h>
#include <linux/delay.h>
#include <media/v4l2-subdev.h>
#include <media/v4l2-ctrls.h>
#include <media/v4l2-device.h>
#include <linux/mutex.h>
#include <linux/version.h>
#include <linux/rk-camera-module.h>
#include <linux/completion.h>
#include "linux/rk_vcm_head.h"
#include <linux/time.h>
#include <linux/semaphore.h>
#define DRIVER_VERSION KERNEL_VERSION(0, 0x01, 0x00)
#define DRIVER_NAME "ms41908"
#define PSUMAB 0X24
#define INTCTAB 0X25
#define PSUMCD 0X29
#define INTCTCD 0X2A
#define START_UP_HZ_DEF (800)
#define PIRIS_MAX_STEP_DEF (80)
#define FOCUS_MAX_STEP_DEF (3060)
#define ZOOM_MAX_STEP_DEF (1520)
#define DCIRIS_MAX_LOG 1023
#define VD_FZ_US 10000
#define PPW_DEF 0xff
#define MICRO_DEF 64
#define PHMODE_DEF 0
#define PPW_STOP 0x00
#define FOCUS_MAX_BACK_DELAY 4
#define ZOOM_MAX_BACK_DELAY 4
#define ZOOM1_MAX_BACK_DELAY 4
#define to_motor_dev(sd) container_of(sd, struct motor_dev, subdev)
enum {
MOTOR_STATUS_STOPPED = 0,
MOTOR_STATUS_CCW = 1,
MOTOR_STATUS_CW = 2,
};
enum ext_dev_type {
TYPE_IRIS = 0,
TYPE_FOCUS = 1,
TYPE_ZOOM = 2,
TYPE_ZOOM1 = 3,
};
struct motor_reg_s {
u16 dt2_phmod;
u16 ppw;
u16 psum;
u16 intct;
};
struct reg_op_s {
struct motor_reg_s reg;
u16 tmp_psum;
bool is_used;
};
struct run_data_s {
u32 count;
u32 cur_count;
u32 psum;
u32 psum_last;
u32 intct;
u32 ppw;
u32 ppw_stop;
u32 phmode;
u32 micro;
};
struct ext_dev {
u8 type;
u32 step_max;
int last_pos;
u32 start_up_speed;
u32 move_status;
u32 reback_status;
u32 move_time_us;
u32 reback_move_time_us;
u32 backlash;
int reback;
u32 last_dir;
int min_pos;
int max_pos;
bool is_half_step_mode;
bool is_mv_tim_update;
bool is_need_update_tim;
bool is_dir_opp;
bool is_need_reback;
bool reback_ctrl;
struct rk_cam_vcm_tim mv_tim;
struct run_data_s run_data;
struct run_data_s reback_data;
struct completion complete;
struct reg_op_s *reg_op;
struct gpio_desc *pic_gpio;
struct gpio_desc *pia_gpio;
struct gpio_desc *pie_gpio;
int cur_back_delay;
int max_back_delay;
struct completion complete_out;
bool is_running;
};
struct dciris_dev {
u32 last_log;
u32 max_log;
bool is_reversed_polarity;
struct gpio_desc *vd_iris_gpio;
};
struct motor_dev {
struct spi_device *spi;
struct v4l2_subdev subdev;
struct v4l2_ctrl_handler ctrl_handler;
struct v4l2_ctrl *iris_ctrl;
struct v4l2_ctrl *focus_ctrl;
struct v4l2_ctrl *zoom_ctrl;
struct v4l2_ctrl *zoom1_ctrl;
struct hrtimer timer;
struct mutex mutex;
u32 module_index;
const char *module_facing;
struct ext_dev *piris;
struct ext_dev *focus;
struct ext_dev *zoom;
struct ext_dev *zoom1;
struct ext_dev *dev0;
struct ext_dev *dev1;
bool is_use_dc_iris;
bool is_use_p_iris;
bool is_use_focus;
bool is_use_zoom;
bool is_use_zoom1;
struct gpio_desc *reset_gpio;
struct gpio_desc *vd_fz_gpio;
bool is_timer_restart;
bool is_timer_restart_bywq;
bool is_should_wait;
struct motor_work_s *wk;
u32 vd_fz_period_us;
struct reg_op_s motor_op[2];
struct dciris_dev *dciris;
int id;
int wait_cnt;
int pi_gpio_usecnt;
};
struct motor_work_s {
struct work_struct work;
struct motor_dev *dev;
};
static const struct reg_op_s g_motor_op[2] = {{{0x22, 0x23, 0x24, 0x25}, 0, 0},
{{0x27, 0x28, 0x29, 0x2a}, 0, 0}};
static int spi_write_reg(struct spi_device *spi, u8 reg, u16 val)
{
int ret = 0;
u8 buf_reg = reg;
u16 buf_val = val;
struct spi_message msg;
struct spi_transfer tx[] = {
{
.tx_buf = &buf_reg,
.len = 1,
.delay_usecs = 1,
}, {
.tx_buf = &buf_val,
.len = 2,
.delay_usecs = 1,
},
};
spi_message_init(&msg);
spi_message_add_tail(&tx[0], &msg);
spi_message_add_tail(&tx[1], &msg);
ret = spi_sync(spi, &msg);
return ret;
}
static __maybe_unused int spi_read_reg(struct spi_device *spi, u8 reg, u16 *val)
{
int ret = 0;
u8 buf_reg = reg | 0x40;
u16 buf_val = 0;
struct spi_message msg;
struct spi_transfer tx[] = {
{
.tx_buf = &buf_reg,
.len = 1,
.delay_usecs = 1,
}, {
.rx_buf = &buf_val,
.len = 2,
.delay_usecs = 1,
},
};
spi_message_init(&msg);
spi_message_add_tail(&tx[0], &msg);
spi_message_add_tail(&tx[1], &msg);
ret = spi_sync(spi, &msg);
*val = buf_val;
return ret;
}
static int set_motor_running_status(struct motor_dev *motor,
struct ext_dev *ext_dev,
s32 pos,
bool is_need_update_tim,
bool is_should_wait,
bool is_need_reback)
{
int ret = 0;
u32 step = 0;
u16 psum = 0;
struct run_data_s run_data = ext_dev->run_data;
u32 micro = 0;
u32 mv_cnt = 0;
int status = 0;
if (ext_dev->move_status != MOTOR_STATUS_STOPPED)
wait_for_completion(&ext_dev->complete);
ext_dev->is_mv_tim_update = false;
ext_dev->move_time_us = 0;
mv_cnt = abs(pos - ext_dev->last_pos);
if (is_need_reback)
mv_cnt += ext_dev->reback;
dev_dbg(&motor->spi->dev,
"dev type %d pos %d, last_pos %d, mv_cnt %d, status %d is_need_reback %d\n",
ext_dev->type, pos, ext_dev->last_pos, mv_cnt, status, is_need_reback);
if (mv_cnt == 0) {
mutex_lock(&motor->mutex);
if (is_need_update_tim) {
ext_dev->mv_tim.vcm_start_t = ns_to_timeval(ktime_get_ns());
ext_dev->mv_tim.vcm_end_t = ext_dev->mv_tim.vcm_start_t;
ext_dev->is_mv_tim_update = true;
if (motor->wait_cnt == 0) {
mutex_unlock(&motor->mutex);
return 0;
}
}
if (is_should_wait) {
motor->wait_cnt++;
} else if (motor->is_timer_restart == false && motor->wait_cnt) {
motor->is_timer_restart = true;
motor->is_timer_restart_bywq = false;
hrtimer_start(&motor->timer, ktime_set(0, 0), HRTIMER_MODE_REL);
motor->wait_cnt = 0;
} else {
motor->wait_cnt = 0;
}
mutex_unlock(&motor->mutex);
return 0;
}
ext_dev->is_running = true;
reinit_completion(&ext_dev->complete);
reinit_completion(&ext_dev->complete_out);
if (ext_dev->is_dir_opp) {
if (pos > ext_dev->last_pos) {
if (ext_dev->last_dir == MOTOR_STATUS_CCW)
mv_cnt += ext_dev->backlash;
status = MOTOR_STATUS_CW;
} else {
if (ext_dev->last_dir == MOTOR_STATUS_CW)
mv_cnt += ext_dev->backlash;
status = MOTOR_STATUS_CCW;
}
} else {
if (pos > ext_dev->last_pos) {
if (ext_dev->last_dir == MOTOR_STATUS_CW)
mv_cnt += ext_dev->backlash;
status = MOTOR_STATUS_CCW;
} else {
if (ext_dev->last_dir == MOTOR_STATUS_CCW)
mv_cnt += ext_dev->backlash;
status = MOTOR_STATUS_CW;
}
}
if (ext_dev->is_half_step_mode)
step = mv_cnt * 4;
else
step = mv_cnt * 8;
run_data.count = (step + run_data.psum - 1) / run_data.psum;
run_data.cur_count = run_data.count;
run_data.psum_last = step % run_data.psum;
if (run_data.psum_last == 0)
run_data.psum_last = run_data.psum;
switch (run_data.micro) {
case 64:
micro = 0x03;
break;
case 128:
micro = 0x02;
break;
case 256:
micro = 0x00;
break;
default:
micro = 0x00;
break;
};
if (run_data.count == 1)
psum = ((status - 1) << 8) |
(1 << 10) |
(micro << 12) |
(run_data.psum_last);
else
psum = ((status - 1) << 8) |
(1 << 10) |
(micro << 12) |
(run_data.psum);
mutex_lock(&motor->mutex);
ext_dev->is_need_update_tim = is_need_update_tim;
ext_dev->is_need_reback = is_need_reback;
ext_dev->move_time_us = (run_data.count + 1) * (motor->vd_fz_period_us + 500);
if (is_need_reback)
ext_dev->move_time_us += ext_dev->reback_move_time_us;
ext_dev->last_pos = pos;
ext_dev->run_data = run_data;
ext_dev->move_status = status;
spi_write_reg(motor->spi, 0x20, 0x1a01);
spi_write_reg(motor->spi, ext_dev->reg_op->reg.ppw, run_data.ppw | (run_data.ppw << 8));
spi_write_reg(motor->spi, ext_dev->reg_op->reg.psum, psum);
spi_write_reg(motor->spi, ext_dev->reg_op->reg.intct, ext_dev->run_data.intct);
ext_dev->reg_op->tmp_psum = psum;
ext_dev->last_dir = status;
if (is_should_wait) {
motor->wait_cnt++;
} else if (motor->is_timer_restart == false) {
motor->is_timer_restart = true;
motor->is_timer_restart_bywq = false;
hrtimer_start(&motor->timer, ktime_set(0, 0), HRTIMER_MODE_REL);
motor->wait_cnt = 0;
} else {
motor->wait_cnt = 0;
}
mutex_unlock(&motor->mutex);
dev_dbg(&motor->spi->dev,
"ext_dev type %d move count %d, psum %d, psum_last %d, move_time_us %u!\n",
ext_dev->type,
ext_dev->run_data.count,
ext_dev->run_data.psum,
ext_dev->run_data.psum_last,
ext_dev->move_time_us);
return ret;
}
static int motor_dev_parse_dt(struct motor_dev *motor)
{
struct device_node *node = motor->spi->dev.of_node;
int ret = 0;
const char *str;
int step_motor_cnt = 0;
motor->is_use_dc_iris =
device_property_read_bool(&motor->spi->dev, "use-dc-iris");
motor->is_use_p_iris =
device_property_read_bool(&motor->spi->dev, "use-p-iris");
motor->is_use_focus =
device_property_read_bool(&motor->spi->dev, "use-focus");
motor->is_use_zoom =
device_property_read_bool(&motor->spi->dev, "use-zoom");
motor->is_use_zoom1 =
device_property_read_bool(&motor->spi->dev, "use-zoom1");
/* get reset gpio */
motor->reset_gpio = devm_gpiod_get(&motor->spi->dev,
"reset", GPIOD_OUT_LOW);
if (IS_ERR(motor->reset_gpio))
dev_err(&motor->spi->dev, "Failed to get reset-gpios\n");
/* get vd_fz gpio */
motor->vd_fz_gpio = devm_gpiod_get(&motor->spi->dev,
"vd_fz", GPIOD_OUT_LOW);
if (IS_ERR(motor->vd_fz_gpio))
dev_info(&motor->spi->dev, "Failed to get vd_fz-gpios\n");
ret = of_property_read_u32(node,
"vd_fz-period-us",
&motor->vd_fz_period_us);
if (ret != 0) {
motor->vd_fz_period_us = VD_FZ_US;
dev_err(&motor->spi->dev,
"failed get vd_fz-period-us,use dafult value\n");
}
ret = of_property_read_u32(node,
"id",
&motor->id);
if (ret != 0) {
motor->id = 0;
dev_err(&motor->spi->dev,
"failed get driver id,use dafult value\n");
}
if (motor->is_use_dc_iris) {
motor->dciris = devm_kzalloc(&motor->spi->dev, sizeof(*motor->dciris), GFP_KERNEL);
if (!motor->dciris) {
dev_err(&motor->spi->dev,
"__line__ %d, devm_kzalloc return fail!\n", __LINE__);
return -ENOMEM;
}
/* get vd_iris gpio */
motor->dciris->vd_iris_gpio = devm_gpiod_get(&motor->spi->dev,
"vd_iris", GPIOD_OUT_LOW);
if (IS_ERR(motor->dciris->vd_iris_gpio))
dev_info(&motor->spi->dev, "Failed to get vd_iris-gpios\n");
motor->dciris->is_reversed_polarity =
device_property_read_bool(&motor->spi->dev, "dc-iris-reserved-polarity");
ret = of_property_read_u32(node,
"dc-iris-max-log",
&motor->dciris->max_log);
if (ret != 0) {
motor->dciris->max_log = DCIRIS_MAX_LOG;
dev_err(&motor->spi->dev,
"failed get dc-iris max log,use dafult value\n");
}
}
if (motor->is_use_p_iris) {
if (motor->is_use_dc_iris) {
dev_err(&motor->spi->dev,
"Does not support p-iris and dc-iris on the same module\n");
return -EINVAL;
}
step_motor_cnt++;
motor->piris = devm_kzalloc(&motor->spi->dev, sizeof(*motor->piris), GFP_KERNEL);
if (!motor->piris) {
dev_err(&motor->spi->dev,
"__line__ %d, devm_kzalloc return fail!\n", __LINE__);
return -ENOMEM;
}
ret = of_property_read_string(node, "piris-used-pin",
&str);
if (ret != 0) {
dev_err(&motor->spi->dev,
"get piris-used-pin fail, please check it!\n");
return -EINVAL;
}
if (strcmp(str, "ab") == 0) {
motor->piris->reg_op = &motor->motor_op[0];
if (motor->piris->reg_op->is_used) {
dev_err(&motor->spi->dev,
"__line__ %d, pin already been used\n", __LINE__);
return -EINVAL;
}
motor->piris->reg_op->is_used = true;
} else if (strcmp(str, "cd") == 0) {
motor->piris->reg_op = &motor->motor_op[1];
if (motor->piris->reg_op->is_used) {
dev_err(&motor->spi->dev,
"__line__ %d, pin already been used\n", __LINE__);
return -EINVAL;
}
motor->piris->reg_op->is_used = true;
} else {
dev_err(&motor->spi->dev,
"__line__ %d, pin require error\n", __LINE__);
return -EINVAL;
}
ret = of_property_read_u32(node,
"piris-backlash",
&motor->piris->backlash);
if (ret != 0) {
motor->piris->backlash = 0;
dev_err(&motor->spi->dev,
"failed get motor backlash,use dafult value\n");
}
ret = of_property_read_u32(node,
"piris-start-up-speed",
&motor->piris->start_up_speed);
if (ret != 0) {
motor->piris->start_up_speed = START_UP_HZ_DEF;
dev_err(&motor->spi->dev,
"failed get motor start up speed,use dafult value\n");
}
ret = of_property_read_u32(node,
"piris-step-max",
&motor->piris->step_max);
if (ret != 0) {
motor->piris->step_max = PIRIS_MAX_STEP_DEF;
dev_err(&motor->spi->dev,
"failed get piris pos_max,use dafult value\n");
}
ret = of_property_read_u32(node,
"piris-ppw",
&motor->piris->run_data.ppw);
if (ret != 0 || (motor->piris->run_data.ppw > 0xff)) {
motor->piris->run_data.ppw = PPW_DEF;
dev_err(&motor->spi->dev,
"failed get piris ppw,use dafult value\n");
}
ret = of_property_read_u32(node,
"piris-ppw-stop",
&motor->piris->run_data.ppw_stop);
if (ret != 0 || (motor->piris->run_data.ppw_stop > 0xff)) {
motor->piris->run_data.ppw_stop = PPW_STOP;
dev_err(&motor->spi->dev,
"failed get piris ppw_stop,use dafult value\n");
}
ret = of_property_read_u32(node,
"piris-phmode",
&motor->piris->run_data.phmode);
if (ret != 0 || (motor->piris->run_data.phmode > 0x3f)) {
motor->piris->run_data.phmode = PHMODE_DEF;
dev_err(&motor->spi->dev,
"failed get piris phmode,use dafult value\n");
}
ret = of_property_read_u32(node,
"piris-micro",
&motor->piris->run_data.micro);
if (ret != 0) {
motor->piris->run_data.micro = MICRO_DEF;
dev_err(&motor->spi->dev,
"failed get piris micro,use dafult value\n");
}
/* get piris pi gpio */
motor->piris->pic_gpio = devm_gpiod_get(&motor->spi->dev,
"piris_pic", GPIOD_IN);
if (IS_ERR(motor->piris->pic_gpio))
dev_err(&motor->spi->dev, "Failed to get piris-pi-c-gpios\n");
motor->piris->pia_gpio = devm_gpiod_get(&motor->spi->dev,
"piris_pia", GPIOD_OUT_LOW);
if (IS_ERR(motor->piris->pia_gpio))
dev_err(&motor->spi->dev, "Failed to get piris-pi-a-gpios\n");
motor->piris->pie_gpio = devm_gpiod_get(&motor->spi->dev,
"piris_pie", GPIOD_OUT_LOW);
if (IS_ERR(motor->piris->pie_gpio))
dev_err(&motor->spi->dev, "Failed to get piris-pi-e-gpios\n");
motor->piris->is_half_step_mode =
device_property_read_bool(&motor->spi->dev, "piris-1-2phase-excitation");
motor->piris->is_dir_opp =
device_property_read_bool(&motor->spi->dev, "piris-dir-opposite");
ret = of_property_read_s32(node,
"piris-min-pos",
&motor->piris->min_pos);
if (ret != 0) {
motor->piris->min_pos = 0;
dev_err(&motor->spi->dev,
"failed get piris min pos,use dafult value\n");
}
ret = of_property_read_s32(node,
"piris-max-pos",
&motor->piris->max_pos);
if (ret != 0) {
motor->piris->max_pos = motor->piris->step_max;
dev_err(&motor->spi->dev,
"failed get piris max_pos pos,use dafult value\n");
}
if (step_motor_cnt == 1)
motor->dev0 = motor->piris;
else if (step_motor_cnt == 2)
motor->dev1 = motor->piris;
ret = of_property_read_u32(node,
"piris-reback-distance",
&motor->piris->reback);
if (ret != 0) {
dev_err(&motor->spi->dev,
"failed get piris reback distance, return\n");
return -EINVAL;
}
}
if (motor->is_use_focus) {
step_motor_cnt++;
motor->focus = devm_kzalloc(&motor->spi->dev, sizeof(*motor->focus), GFP_KERNEL);
if (!motor->focus) {
dev_err(&motor->spi->dev,
"__line__ %d, devm_kzalloc return fail!\n", __LINE__);
return -ENOMEM;
}
ret = of_property_read_string(node, "focus-used-pin",
&str);
if (ret != 0) {
dev_err(&motor->spi->dev,
"get focus-used-pin fail, please check it!\n");
return -EINVAL;
}
if (strcmp(str, "ab") == 0) {
motor->focus->reg_op = &motor->motor_op[0];
if (motor->focus->reg_op->is_used) {
dev_err(&motor->spi->dev,
"__line__ %d, pin already been used\n", __LINE__);
return -EINVAL;
}
motor->focus->reg_op->is_used = true;
} else if (strcmp(str, "cd") == 0) {
motor->focus->reg_op = &motor->motor_op[1];
if (motor->focus->reg_op->is_used) {
dev_err(&motor->spi->dev,
"__line__ %d, pin already been used\n", __LINE__);
return -EINVAL;
}
motor->focus->reg_op->is_used = true;
} else {
dev_err(&motor->spi->dev,
"__line__ %d, pin require error\n", __LINE__);
return -EINVAL;
}
ret = of_property_read_u32(node,
"focus-backlash",
&motor->focus->backlash);
if (ret != 0) {
motor->focus->backlash = 0;
dev_err(&motor->spi->dev,
"failed get motor backlash,use dafult value\n");
}
ret = of_property_read_u32(node,
"focus-start-up-speed",
&motor->focus->start_up_speed);
if (ret != 0) {
motor->focus->start_up_speed = START_UP_HZ_DEF;
dev_err(&motor->spi->dev,
"failed get motor start up speed,use dafult value\n");
}
ret = of_property_read_u32(node,
"focus-step-max",
&motor->focus->step_max);
if (ret != 0) {
motor->focus->step_max = FOCUS_MAX_STEP_DEF;
dev_err(&motor->spi->dev,
"failed get focus_pos_max,use dafult value\n");
}
ret = of_property_read_u32(node,
"focus-ppw",
&motor->focus->run_data.ppw);
if (ret != 0 || (motor->focus->run_data.ppw > 0xff)) {
motor->focus->run_data.ppw = PPW_DEF;
dev_err(&motor->spi->dev,
"failed get focus ppw,use dafult value\n");
}
ret = of_property_read_u32(node,
"focus-ppw-stop",
&motor->focus->run_data.ppw_stop);
if (ret != 0 || (motor->focus->run_data.ppw_stop > 0xff)) {
motor->focus->run_data.ppw_stop = PPW_STOP;
dev_err(&motor->spi->dev,
"failed get focus ppw_stop,use dafult value\n");
}
ret = of_property_read_u32(node,
"focus-phmode",
&motor->focus->run_data.phmode);
if (ret != 0 || (motor->focus->run_data.phmode > 0x3f)) {
motor->focus->run_data.phmode = PHMODE_DEF;
dev_err(&motor->spi->dev,
"failed get focus phmode,use dafult value\n");
}
ret = of_property_read_u32(node,
"focus-micro",
&motor->focus->run_data.micro);
if (ret != 0) {
motor->focus->run_data.micro = MICRO_DEF;
dev_err(&motor->spi->dev,
"failed get focus micro,use dafult value\n");
}
if (step_motor_cnt == 1)
motor->dev0 = motor->focus;
else if (step_motor_cnt == 2)
motor->dev1 = motor->focus;
/* get focus pi gpio */
motor->focus->pic_gpio = devm_gpiod_get(&motor->spi->dev,
"focus_pic", GPIOD_IN);
if (IS_ERR(motor->focus->pic_gpio))
dev_err(&motor->spi->dev, "Failed to get focus-pi-c-gpios\n");
motor->focus->pia_gpio = devm_gpiod_get(&motor->spi->dev,
"focus_pia", GPIOD_OUT_LOW);
if (IS_ERR(motor->focus->pia_gpio))
dev_err(&motor->spi->dev, "Failed to get focus-pi-a-gpios\n");
motor->focus->pie_gpio = devm_gpiod_get(&motor->spi->dev,
"focus_pie", GPIOD_OUT_LOW);
if (IS_ERR(motor->focus->pie_gpio))
dev_err(&motor->spi->dev, "Failed to get focus-pi-e-gpios\n");
ret = of_property_read_u32(node,
"focus-reback-distance",
&motor->focus->reback);
if (ret != 0) {
dev_err(&motor->spi->dev,
"failed get focus reback distance, return\n");
return -EINVAL;
}
motor->focus->is_half_step_mode =
device_property_read_bool(&motor->spi->dev, "focus-1-2phase-excitation");
motor->focus->is_dir_opp =
device_property_read_bool(&motor->spi->dev, "focus-dir-opposite");
ret = of_property_read_s32(node,
"focus-min-pos",
&motor->focus->min_pos);
if (ret != 0) {
motor->focus->min_pos = 0;
dev_err(&motor->spi->dev,
"failed get focus min pos,use dafult value\n");
}
ret = of_property_read_s32(node,
"focus-max-pos",
&motor->focus->max_pos);
if (ret != 0) {
motor->focus->max_pos = motor->focus->step_max;
dev_err(&motor->spi->dev,
"failed get focus max_pos pos,use dafult value\n");
}
}
if (motor->is_use_zoom) {
if (step_motor_cnt >= 2) {
dev_err(&motor->spi->dev,
"The driver support step-motor max num is 2\n");
return -EINVAL;
}
step_motor_cnt++;
motor->zoom = devm_kzalloc(&motor->spi->dev, sizeof(*motor->zoom), GFP_KERNEL);
if (!motor->zoom) {
dev_err(&motor->spi->dev,
"__line__ %d, devm_kzalloc return fail!\n", __LINE__);
return -ENOMEM;
}
ret = of_property_read_string(node, "zoom-used-pin",
&str);
if (ret != 0) {
dev_err(&motor->spi->dev,
"get zoom-used-pin fail, please check it!\n");
return -EINVAL;
}
if (strcmp(str, "ab") == 0) {
motor->zoom->reg_op = &motor->motor_op[0];
if (motor->zoom->reg_op->is_used) {
dev_err(&motor->spi->dev,
"__line__ %d, pin already been used\n", __LINE__);
return -EINVAL;
}
motor->zoom->reg_op->is_used = true;
} else if (strcmp(str, "cd") == 0) {
motor->zoom->reg_op = &motor->motor_op[1];
if (motor->zoom->reg_op->is_used) {
dev_err(&motor->spi->dev,
"__line__ %d, pin already been used\n", __LINE__);
return -EINVAL;
}
motor->zoom->reg_op->is_used = true;
} else {
dev_err(&motor->spi->dev,
"__line__ %d, pin require error\n", __LINE__);
return -EINVAL;
}
ret = of_property_read_u32(node,
"zoom-backlash",
&motor->zoom->backlash);
if (ret != 0) {
motor->zoom->backlash = 0;
dev_err(&motor->spi->dev,
"failed get motor backlash,use dafult value\n");
}
ret = of_property_read_u32(node,
"zoom-step-max",
&motor->zoom->step_max);
if (ret != 0) {
motor->zoom->step_max = ZOOM_MAX_STEP_DEF;
dev_err(&motor->spi->dev,
"failed get iris zoom_pos_max,use dafult value\n");
}
ret = of_property_read_u32(node,
"zoom-start-up-speed",
&motor->zoom->start_up_speed);
if (ret != 0) {
motor->zoom->start_up_speed = START_UP_HZ_DEF;
dev_err(&motor->spi->dev,
"failed get motor start up speed,use dafult value\n");
}
ret = of_property_read_u32(node,
"zoom-ppw",
&motor->zoom->run_data.ppw);
if (ret != 0 || (motor->zoom->run_data.ppw > 0xff)) {
motor->zoom->run_data.ppw = PPW_DEF;
dev_err(&motor->spi->dev,
"failed get zoom ppw,use dafult value\n");
}
ret = of_property_read_u32(node,
"zoom-ppw-stop",
&motor->zoom->run_data.ppw_stop);
if (ret != 0 || (motor->zoom->run_data.ppw_stop > 0xff)) {
motor->zoom->run_data.ppw_stop = PPW_STOP;
dev_err(&motor->spi->dev,
"failed get zoom ppw_stop,use dafult value\n");
}
ret = of_property_read_u32(node,
"zoom-phmode",
&motor->zoom->run_data.phmode);
if (ret != 0 || (motor->zoom->run_data.phmode > 0x3ff)) {
motor->zoom->run_data.phmode = PHMODE_DEF;
dev_err(&motor->spi->dev,
"failed get zoom phmode,use dafult value\n");
}
ret = of_property_read_u32(node,
"zoom-micro",
&motor->zoom->run_data.micro);
if (ret != 0) {
motor->zoom->run_data.micro = MICRO_DEF;
dev_err(&motor->spi->dev,
"failed get zoom micro,use dafult value\n");
}
motor->zoom->pic_gpio = devm_gpiod_get(&motor->spi->dev,
"zoom_pic", GPIOD_IN);
if (IS_ERR(motor->zoom->pic_gpio))
dev_err(&motor->spi->dev, "Failed to get zoom-pi-c-gpios\n");
motor->zoom->is_half_step_mode =
device_property_read_bool(&motor->spi->dev, "zoom-1-2phase-excitation");
motor->zoom->is_dir_opp =
device_property_read_bool(&motor->spi->dev, "zoom-dir-opposite");
if (step_motor_cnt == 1)
motor->dev0 = motor->zoom;
else if (step_motor_cnt == 2)
motor->dev1 = motor->zoom;
ret = of_property_read_s32(node,
"zoom-min-pos",
&motor->zoom->min_pos);
if (ret != 0) {
motor->zoom->min_pos = 0;
dev_err(&motor->spi->dev,
"failed get zoom min pos,use dafult value\n");
}
ret = of_property_read_s32(node,
"zoom-max-pos",
&motor->zoom->max_pos);
if (ret != 0) {
motor->zoom->max_pos = motor->zoom->step_max;
dev_err(&motor->spi->dev,
"failed get zoom max_pos pos,use dafult value\n");
}
ret = of_property_read_u32(node,
"zoom-reback-distance",
&motor->zoom->reback);
if (ret != 0) {
dev_err(&motor->spi->dev,
"failed get zoom reback distance, return\n");
return -EINVAL;
}
}
if (motor->is_use_zoom1) {
if (step_motor_cnt >= 2) {
dev_err(&motor->spi->dev,
"The driver support step-motor max num is 2\n");
return -EINVAL;
}
step_motor_cnt++;
motor->zoom1 = devm_kzalloc(&motor->spi->dev, sizeof(*motor->zoom1), GFP_KERNEL);
if (!motor->zoom1) {
dev_err(&motor->spi->dev,
"__line__ %d, devm_kzalloc return fail!\n", __LINE__);
return -ENOMEM;
}
ret = of_property_read_string(node, "zoom1-used-pin",
&str);
if (ret != 0) {
dev_err(&motor->spi->dev,
"get zoom1-used-pin fail, please check it!\n");
return -EINVAL;
}
if (strcmp(str, "ab") == 0) {
motor->zoom1->reg_op = &motor->motor_op[0];
if (motor->zoom1->reg_op->is_used) {
dev_err(&motor->spi->dev,
"__line__ %d, pin already been used\n", __LINE__);
return -EINVAL;
}
motor->zoom1->reg_op->is_used = true;
} else if (strcmp(str, "cd") == 0) {
motor->zoom1->reg_op = &motor->motor_op[1];
if (motor->zoom1->reg_op->is_used) {
dev_err(&motor->spi->dev,
"__line__ %d, pin already been used\n", __LINE__);
return -EINVAL;
}
motor->zoom1->reg_op->is_used = true;
} else {
dev_err(&motor->spi->dev,
"__line__ %d, pin require error\n", __LINE__);
return -EINVAL;
}
ret = of_property_read_u32(node,
"zoom1-backlash",
&motor->zoom1->backlash);
if (ret != 0) {
motor->zoom1->backlash = 0;
dev_err(&motor->spi->dev,
"failed get motor backlash,use dafult value\n");
}
ret = of_property_read_u32(node,
"zoom1-step-max",
&motor->zoom1->step_max);
if (ret != 0) {
motor->zoom1->step_max = ZOOM_MAX_STEP_DEF;
dev_err(&motor->spi->dev,
"failed get zoom_pos_max,use dafult value\n");
}
ret = of_property_read_u32(node,
"zoom1-start-up-speed",
&motor->zoom1->start_up_speed);
if (ret != 0) {
motor->zoom1->start_up_speed = START_UP_HZ_DEF;
dev_err(&motor->spi->dev,
"failed get motor start up speed,use dafult value\n");
}
ret = of_property_read_u32(node,
"zoom1-ppw",
&motor->zoom1->run_data.ppw);
if (ret != 0 || (motor->zoom1->run_data.ppw > 0xff)) {
motor->zoom1->run_data.ppw = PPW_DEF;
dev_err(&motor->spi->dev,
"failed get zoom1 ppw,use dafult value\n");
}
ret = of_property_read_u32(node,
"zoom1-ppw-stop",
&motor->zoom1->run_data.ppw_stop);
if (ret != 0 || (motor->zoom1->run_data.ppw_stop > 0xff)) {
motor->zoom1->run_data.ppw_stop = PPW_STOP;
dev_err(&motor->spi->dev,
"failed get zoom1 ppw_stop,use dafult value\n");
}
ret = of_property_read_u32(node,
"zoom1-phmode",
&motor->zoom1->run_data.phmode);
if (ret != 0 || (motor->zoom1->run_data.phmode > 0x3f)) {
motor->zoom1->run_data.phmode = PHMODE_DEF;
dev_err(&motor->spi->dev,
"failed get zoom1 phmode,use dafult value\n");
}
ret = of_property_read_u32(node,
"zoom1-micro",
&motor->zoom1->run_data.micro);
if (ret != 0) {
motor->zoom1->run_data.micro = MICRO_DEF;
dev_err(&motor->spi->dev,
"failed get zoom1 micro,use dafult value\n");
}
/* get zoom1 pi gpio */
motor->zoom1->pic_gpio = devm_gpiod_get(&motor->spi->dev,
"zoom1_pic", GPIOD_IN);
if (IS_ERR(motor->zoom1->pic_gpio))
dev_err(&motor->spi->dev, "Failed to get zoom1-pi-c-gpios\n");
motor->zoom1->pia_gpio = devm_gpiod_get(&motor->spi->dev,
"zoom1_pia", GPIOD_OUT_LOW);
if (IS_ERR(motor->zoom1->pia_gpio))
dev_err(&motor->spi->dev, "Failed to get zoom1-pi-a-gpios\n");
motor->zoom1->pie_gpio = devm_gpiod_get(&motor->spi->dev,
"zoom1_pie", GPIOD_OUT_LOW);
if (IS_ERR(motor->zoom1->pie_gpio))
dev_err(&motor->spi->dev, "Failed to get zoom1-pi-e-gpios\n");
motor->zoom1->is_half_step_mode =
device_property_read_bool(&motor->spi->dev, "zoom1-1-2phase-excitation");
motor->zoom1->is_dir_opp =
device_property_read_bool(&motor->spi->dev, "zoom1-dir-opposite");
if (step_motor_cnt == 1)
motor->dev0 = motor->zoom1;
else if (step_motor_cnt == 2)
motor->dev1 = motor->zoom1;
ret = of_property_read_s32(node,
"zoom1-min-pos",
&motor->zoom1->min_pos);
if (ret != 0) {
motor->zoom1->min_pos = 0;
dev_err(&motor->spi->dev,
"failed get zoom1 min pos,use dafult value\n");
}
ret = of_property_read_s32(node,
"zoom1-max-pos",
&motor->zoom1->max_pos);
if (ret != 0) {
motor->zoom1->max_pos = motor->zoom1->step_max;
dev_err(&motor->spi->dev,
"failed get zoom1 max_pos pos,use dafult value\n");
}
ret = of_property_read_u32(node,
"zoom1-reback-distance",
&motor->zoom1->reback);
if (ret != 0) {
dev_err(&motor->spi->dev,
"failed get zoom1 reback distance, return\n");
return -EINVAL;
}
}
ret = of_property_read_u32(node, RKMODULE_CAMERA_MODULE_INDEX,
&motor->module_index);
ret |= of_property_read_string(node, RKMODULE_CAMERA_MODULE_FACING,
&motor->module_facing);
if (ret) {
dev_err(&motor->spi->dev,
"could not get module information!\n");
return -EINVAL;
}
return 0;
}
static void motor_config_dev_next_status(struct motor_dev *motor, struct ext_dev *dev)
{
u16 ppw = 0;
u16 psum = 0;
u16 micro = 0;
struct spi_device *spi = motor->spi;
#ifdef DEBUG
u16 intct = 0;
int i = 0;
u16 val = 0;
if (dev->move_status != MOTOR_STATUS_STOPPED) {
dev_dbg(&spi->dev,
"__line__ %d dev type %d, cur_count %d !\n", __LINE__,
dev->type,
dev->run_data.cur_count);
dev_dbg(&spi->dev,
"__line__ %d, motor reg table: 0x%02x 0x%02x 0x%02x!\n", __LINE__,
dev->reg_op->reg.ppw,
dev->reg_op->reg.psum,
dev->reg_op->reg.intct);
for (i = 0; i < 11; i++) {
spi_read_reg(spi, 0x20 + i, &val);
dev_dbg(&spi->dev,
"========reg,val= 0x%02x, 0x%04x========\n",
0x20 + i,
val);
}
}
#endif
#ifdef DEBUG
spi_read_reg(spi, dev->reg_op->reg.ppw, &ppw);
spi_read_reg(spi, dev->reg_op->reg.psum, &psum);
spi_read_reg(spi, dev->reg_op->reg.intct, &intct);
dev_info(&spi->dev,
"__line__ %d dev type %d, cur_count %d , status %d! ppw 0x%x, psum 0x%x intct 0x%x\n", __LINE__,
dev->type,
dev->run_data.cur_count,
dev->move_status, ppw, psum, intct);
#endif
if (dev->run_data.cur_count != 0) {
if (dev->run_data.cur_count == dev->run_data.count &&
dev->is_need_update_tim) {
dev->mv_tim.vcm_start_t = ns_to_timeval(ktime_get_ns());
dev->is_need_update_tim = false;
}
dev->run_data.cur_count--;
ppw = (dev->run_data.ppw << 8) | dev->run_data.ppw;
switch (dev->run_data.micro) {
case 64:
micro = 0x03;
break;
case 128:
micro = 0x02;
break;
case 256:
micro = 0x00;
break;
default:
micro = 0x00;
break;
};
switch (dev->run_data.cur_count) {
case 0:
psum = ((dev->move_status - 1) << 8) |
(micro << 12) |
(1 << 10);
ppw = (dev->run_data.ppw_stop << 8) | dev->run_data.ppw_stop;
break;
case 1:
psum = ((dev->move_status - 1) << 8) |
(1 << 10) |
(micro << 12) |
(dev->run_data.psum_last);
break;
default:
psum = ((dev->move_status - 1) << 8) |
(1 << 10) |
(micro << 12) |
(dev->run_data.psum);
break;
};
spi_write_reg(motor->spi, 0x20, 0x1a01);
spi_write_reg(spi, dev->reg_op->reg.ppw, ppw);
spi_write_reg(spi, dev->reg_op->reg.psum, psum);
spi_write_reg(spi, dev->reg_op->reg.intct,
dev->run_data.intct);
dev->reg_op->tmp_psum = psum;
} else if (dev->move_status != MOTOR_STATUS_STOPPED) {
dev->mv_tim.vcm_end_t = ns_to_timeval(ktime_get_ns());
dev->is_mv_tim_update = true;
dev->move_status = MOTOR_STATUS_STOPPED;
dev->reg_op->tmp_psum = 0;
dev->is_running = false;
complete(&dev->complete_out);
complete(&dev->complete);
}
}
static void motor_op_work(struct work_struct *work)
{
struct motor_work_s *wk =
container_of(work, struct motor_work_s, work);
struct motor_dev *motor = wk->dev;
static struct timeval tv_last = {0};
struct timeval tv = {0};
u64 time_dist = 0;
do_gettimeofday(&tv);
time_dist = tv.tv_sec * 1000000 + tv.tv_usec - (tv_last.tv_sec * 1000000 + tv_last.tv_usec);
tv_last = tv;
if (time_dist < motor->vd_fz_period_us && motor->is_timer_restart_bywq)
dev_info(&motor->spi->dev,
"Timer error, Current interrupt interval %llu\n", time_dist);
mutex_lock(&motor->mutex);
gpiod_set_value(motor->vd_fz_gpio, 1);
usleep_range(30, 60);
gpiod_set_value(motor->vd_fz_gpio, 0);
if (motor->dev0 && motor->dev0->run_data.cur_count == 0 &&
motor->dev0->is_need_reback) {
if (motor->dev0->cur_back_delay < motor->dev0->max_back_delay) {
motor->dev0->cur_back_delay++;
motor->dev0->run_data.cur_count = 1;
} else {
motor->dev0->run_data = motor->dev0->reback_data;
motor->dev0->is_need_reback = false;
motor->dev0->move_status = motor->dev0->reback_status;
motor->dev0->last_dir = motor->dev1->reback_status;
motor->dev0->cur_back_delay = 0;
}
}
if (motor->dev1 && motor->dev1->run_data.cur_count == 0 &&
motor->dev1->is_need_reback) {
if (motor->dev1->cur_back_delay < motor->dev1->max_back_delay) {
motor->dev1->cur_back_delay++;
motor->dev1->run_data.cur_count = 1;
} else {
motor->dev1->run_data = motor->dev1->reback_data;
motor->dev1->is_need_reback = false;
motor->dev1->move_status = motor->dev1->reback_status;
motor->dev1->last_dir = motor->dev1->reback_status;
motor->dev1->cur_back_delay = 0;
}
}
if ((motor->dev0 && motor->dev0->run_data.cur_count > 0) ||
(motor->dev1 && motor->dev1->run_data.cur_count > 0)) {
motor->is_timer_restart = true;
motor->is_timer_restart_bywq = true;
hrtimer_start(&motor->timer,
motor->vd_fz_period_us * 1000,
HRTIMER_MODE_REL);
} else {
motor->is_timer_restart = false;
motor->is_timer_restart_bywq = false;
}
usleep_range(660, 700);//delay more than DT1
if (motor->dev0 && motor->dev0->move_status != MOTOR_STATUS_STOPPED)
motor_config_dev_next_status(motor, motor->dev0);
if (motor->dev1 && motor->dev1->move_status != MOTOR_STATUS_STOPPED)
motor_config_dev_next_status(motor, motor->dev1);
mutex_unlock(&motor->mutex);
motor->is_should_wait = false;
}
static enum hrtimer_restart motor_timer_func(struct hrtimer *timer)
{
struct motor_dev *motor = container_of(timer, struct motor_dev, timer);
motor->is_should_wait = true;
schedule_work_on(smp_processor_id(), &motor->wk->work);
return HRTIMER_NORESTART;
}
static int motor_g_volatile_ctrl(struct v4l2_ctrl *ctrl)
{
struct motor_dev *motor = container_of(ctrl->handler,
struct motor_dev, ctrl_handler);
switch (ctrl->id) {
case V4L2_CID_IRIS_ABSOLUTE:
if (motor->is_use_dc_iris)
ctrl->val = motor->dciris->last_log;
else if (motor->is_use_p_iris)
ctrl->val = motor->piris->last_pos;
return 0;
case V4L2_CID_FOCUS_ABSOLUTE:
ctrl->val = motor->focus->last_pos;
return 0;
case V4L2_CID_ZOOM_ABSOLUTE:
ctrl->val = motor->zoom->last_pos;
return 0;
case V4L2_CID_ZOOM_CONTINUOUS:
ctrl->val = motor->zoom1->last_pos;
return 0;
}
return 0;
}
static void wait_for_motor_stop(struct motor_dev *motor, struct ext_dev *dev)
{
unsigned long ret = 0;
if (dev->is_running) {
ret = wait_for_completion_timeout(&dev->complete_out, 10 * HZ);
if (ret == 0)
dev_info(&motor->spi->dev,
"dev->type %d, wait for complete timeout\n", dev->type);
}
}
static int motor_s_ctrl(struct v4l2_ctrl *ctrl)
{
#ifdef DEBUG
int i = 0;
u16 val = 0;
#endif
int ret = 0;
struct motor_dev *motor = container_of(ctrl->handler,
struct motor_dev, ctrl_handler);
bool is_need_reback = false;
switch (ctrl->id) {
case V4L2_CID_IRIS_ABSOLUTE:
if (motor->is_use_dc_iris) {
if (motor->dciris->is_reversed_polarity)
spi_write_reg(motor->spi, 0x00,
motor->dciris->max_log - ctrl->val);
else
spi_write_reg(motor->spi, 0x00, ctrl->val);
gpiod_set_value(motor->dciris->vd_iris_gpio, 1);
usleep_range(200, 400);
gpiod_set_value(motor->dciris->vd_iris_gpio, 0);
motor->dciris->last_log = ctrl->val;
dev_dbg(&motor->spi->dev, "set iris pos %d\n", ctrl->val);
#ifdef DEBUG
for (i = 0; i < 16; i++) {
spi_read_reg(motor->spi, i, &val);
dev_dbg(&motor->spi->dev, "reg,val=0x%02x,0x%04x\n", i, val);
}
#endif
} else if (motor->is_use_p_iris) {
ret = set_motor_running_status(motor,
motor->piris,
ctrl->val,
true,
false,
false);
wait_for_motor_stop(motor, motor->piris);
dev_dbg(&motor->spi->dev, "set piris pos %d\n", ctrl->val);
}
break;
case V4L2_CID_FOCUS_ABSOLUTE:
if (motor->focus->reback_ctrl) {
if (ctrl->val >= motor->focus->last_pos)
is_need_reback = false;
else
is_need_reback = true;
}
ret = set_motor_running_status(motor,
motor->focus,
ctrl->val,
true,
false,
is_need_reback);
wait_for_motor_stop(motor, motor->focus);
dev_dbg(&motor->spi->dev, "set focus pos %d\n", ctrl->val);
break;
case V4L2_CID_ZOOM_ABSOLUTE:
if (motor->zoom->reback_ctrl) {
if (ctrl->val >= motor->zoom->last_pos)
is_need_reback = false;
else
is_need_reback = true;
}
ret = set_motor_running_status(motor,
motor->zoom,
ctrl->val,
true,
false,
is_need_reback);
wait_for_motor_stop(motor, motor->zoom);
dev_dbg(&motor->spi->dev, "set zoom pos %d\n", ctrl->val);
break;
case V4L2_CID_ZOOM_CONTINUOUS:
if (motor->zoom1->reback_ctrl) {
if (ctrl->val >= motor->zoom1->last_pos)
is_need_reback = false;
else
is_need_reback = true;
}
ret = set_motor_running_status(motor,
motor->zoom1,
ctrl->val,
true,
false,
is_need_reback);
wait_for_motor_stop(motor, motor->zoom1);
dev_dbg(&motor->spi->dev, "set zoom1 pos %d\n", ctrl->val);
break;
default:
dev_err(&motor->spi->dev, "not support cmd %d\n", ctrl->id);
break;
}
return ret;
}
static int motor_set_zoom_follow(struct motor_dev *motor, struct rk_cam_set_zoom *mv_param)
{
int i = 0;
int ret = 0;
bool is_need_zoom_reback = mv_param->is_need_zoom_reback;
bool is_need_focus_reback = mv_param->is_need_focus_reback;
for (i = 0; i < mv_param->setzoom_cnt; i++) {
dev_dbg(&motor->spi->dev,
"%s zoom %d, focus %d, i %d\n",
__func__,
mv_param->zoom_pos[i].zoom_pos,
mv_param->zoom_pos[i].focus_pos,
i);
if (i == (mv_param->setzoom_cnt - 1)) {
ret = set_motor_running_status(motor,
motor->focus,
mv_param->zoom_pos[i].focus_pos,
true,
true,
is_need_focus_reback);
ret = set_motor_running_status(motor,
motor->zoom,
mv_param->zoom_pos[i].zoom_pos,
true,
false,
is_need_zoom_reback);
} else {
set_motor_running_status(motor,
motor->focus,
mv_param->zoom_pos[i].focus_pos,
false,
true,
false);
set_motor_running_status(motor,
motor->zoom,
mv_param->zoom_pos[i].zoom_pos,
false,
false,
false);
}
wait_for_motor_stop(motor, motor->focus);
wait_for_motor_stop(motor, motor->zoom);
}
return ret;
}
static int motor_find_pi_binarysearch(struct motor_dev *motor,
struct ext_dev *ext_dev,
int min, int max)
{
int gpio_val = 0;
int tmp_val = 0;
int mid = 0;
int last_pos = 0;
int new_min = 0;
int new_max = 0;
if (min > max)
return -EINVAL;
tmp_val = gpiod_get_value(ext_dev->pic_gpio);
mid = (min + max) / 2;
if (mid == min) {
dev_dbg(&motor->spi->dev,
"ext dev %d find pi %d\n", ext_dev->type, mid);
if (ext_dev->last_pos < mid)
set_motor_running_status(motor,
ext_dev,
mid,
false,
false,
false);
else
set_motor_running_status(motor,
ext_dev,
mid,
false,
false,
true);
wait_for_motor_stop(motor, ext_dev);
return mid;
}
last_pos = ext_dev->last_pos;
if (last_pos < mid)
set_motor_running_status(motor,
ext_dev,
mid,
false,
false,
false);
else
set_motor_running_status(motor,
ext_dev,
mid,
false,
false,
true);
wait_for_motor_stop(motor, ext_dev);
gpio_val = gpiod_get_value(ext_dev->pic_gpio);
if (tmp_val != gpio_val) {
usleep_range(10, 20);
gpio_val = gpiod_get_value(ext_dev->pic_gpio);
}
dev_dbg(&motor->spi->dev,
"__line__ %d ext_dev type %d, get pi value %d, tmp_val %d, min %d, max %d\n",
__LINE__, ext_dev->type, gpio_val, tmp_val, min, max);
if (tmp_val != gpio_val) {
if (last_pos == min) {
new_min = min;
new_max = mid;
} else {
new_min = mid;
new_max = max;
}
} else {
if (last_pos == min) {
new_min = mid;
new_max = max;
} else {
new_min = min;
new_max = mid;
}
}
return motor_find_pi_binarysearch(motor, ext_dev, new_min, new_max);
}
static int motor_find_pi(struct motor_dev *motor,
struct ext_dev *ext_dev, int step)
{
int i = 0;
int idx_max = ext_dev->step_max + step - 1;
int tmp_val = 0;
int gpio_val = 0;
int min = 0;
int max = 0;
bool is_find_pi = false;
tmp_val = gpiod_get_value(ext_dev->pic_gpio);
for (i = ext_dev->last_pos + step; i < idx_max; i += step) {
set_motor_running_status(motor,
ext_dev,
i,
false,
false,
false);
wait_for_motor_stop(motor, ext_dev);
gpio_val = gpiod_get_value(ext_dev->pic_gpio);
if (tmp_val != gpio_val) {
usleep_range(10, 20);
gpio_val = gpiod_get_value(ext_dev->pic_gpio);
}
dev_dbg(&motor->spi->dev,
"__line__ %d ext_dev type %d, get pi value %d, i %d, tmp_val %d\n",
__LINE__, ext_dev->type, gpio_val, i, tmp_val);
if (tmp_val != gpio_val) {
min = i - step;
max = i;
is_find_pi = true;
break;
}
}
if (i > idx_max) {
for (i = ext_dev->last_pos - step; i > 0; i -= step) {
set_motor_running_status(motor,
ext_dev,
i,
false,
false,
true);
wait_for_motor_stop(motor, ext_dev);
gpio_val = gpiod_get_value(ext_dev->pic_gpio);
if (tmp_val != gpio_val) {
usleep_range(10, 20);
gpio_val = gpiod_get_value(ext_dev->pic_gpio);
}
dev_dbg(&motor->spi->dev,
"__line__ %d ext_dev type %d, get pi value %d, i %d, tmp_val %d\n",
__LINE__, ext_dev->type, gpio_val, i, tmp_val);
if (tmp_val != gpio_val) {
min = i;
max = i + step;
is_find_pi = true;
break;
}
}
}
if (is_find_pi) {
if (abs(step) == 1)
return ext_dev->last_pos;
else
return motor_find_pi_binarysearch(motor, ext_dev,
min,
max);
} else {
return -EINVAL;
}
}
static int motor_reinit_piris(struct motor_dev *motor)
{
int ret = 0;
if (!IS_ERR(motor->piris->pic_gpio)) {
if (!IS_ERR(motor->piris->pia_gpio))
gpiod_set_value(motor->piris->pia_gpio, 1);
if (!IS_ERR(motor->piris->pie_gpio))
gpiod_set_value(motor->piris->pie_gpio, 0);
msleep(250);
#ifdef PI_TEST
motor->piris->last_pos = motor->piris->step_max;
ret = set_motor_running_status(motor,
motor->piris,
0,
false,
false,
false);
wait_for_motor_stop(motor, motor->piris);
#else
motor->piris->last_pos = 0;
#endif
ret = motor_find_pi(motor, motor->piris, 10);
if (ret < 0) {
dev_err(&motor->spi->dev,
"get piris pi fail, pls check it\n");
return -EINVAL;
}
#ifdef PI_TEST
min = -ret;
max = motor->piris->step_max + min;
motor->piris->min_pos = min;
motor->piris->max_pos = max;
#endif
if (!IS_ERR(motor->piris->pia_gpio))
gpiod_set_value(motor->piris->pia_gpio, 0);
if (!IS_ERR(motor->piris->pie_gpio))
gpiod_set_value(motor->piris->pie_gpio, 0);
motor->piris->last_pos = 0;
} else {
motor->piris->last_pos = motor->piris->step_max;
ret = set_motor_running_status(motor,
motor->piris,
0,
false,
false,
false);
wait_for_motor_stop(motor, motor->piris);
}
return 0;
}
static void motor_reinit_piris_pos(struct motor_dev *motor)
{
if (!motor->piris) {
dev_err(&motor->spi->dev,
"not support piris\n");
return;
}
motor_reinit_piris(motor);
motor->piris->last_pos = 0;
__v4l2_ctrl_modify_range(motor->iris_ctrl, motor->piris->min_pos,
motor->piris->max_pos - motor->piris->reback,
1, 0);
}
static int motor_reinit_focus(struct motor_dev *motor)
{
int ret = 0;
if (!IS_ERR(motor->focus->pic_gpio)) {
mutex_lock(&motor->mutex);
if (motor->pi_gpio_usecnt == 0) {
if (!IS_ERR(motor->focus->pia_gpio))
gpiod_set_value(motor->focus->pia_gpio, 1);
if (!IS_ERR(motor->focus->pie_gpio))
gpiod_set_value(motor->focus->pie_gpio, 0);
msleep(250);
}
motor->pi_gpio_usecnt++;
mutex_unlock(&motor->mutex);
#ifdef PI_TEST
motor->focus->last_pos = motor->focus->step_max;
ret = set_motor_running_status(motor,
motor->focus,
0,
false,
false,
false);
wait_for_motor_stop(motor, motor->focus);
#else
motor->focus->last_pos = 0;
#endif
ret = motor_find_pi(motor, motor->focus, 200);
if (ret < 0) {
dev_info(&motor->spi->dev,
"get focus pi fail, pls check it\n");
return -EINVAL;
}
#ifdef PI_TEST
min = -ret;
max = motor->focus->step_max + min;
motor->focus->min_pos = min;
motor->focus->max_pos = max;
#endif
mutex_lock(&motor->mutex);
if (motor->pi_gpio_usecnt == 1) {
if (!IS_ERR(motor->focus->pia_gpio))
gpiod_set_value(motor->focus->pia_gpio, 0);
if (!IS_ERR(motor->focus->pie_gpio))
gpiod_set_value(motor->focus->pie_gpio, 0);
}
motor->pi_gpio_usecnt--;
mutex_unlock(&motor->mutex);
} else {
motor->focus->last_pos = motor->focus->step_max;
ret = set_motor_running_status(motor,
motor->focus,
0,
false,
false,
true);
wait_for_motor_stop(motor, motor->focus);
}
return 0;
}
static void motor_reinit_focus_pos(struct motor_dev *motor)
{
if (!motor->focus) {
dev_err(&motor->spi->dev,
"not support focus\n");
return;
}
motor_reinit_focus(motor);
motor->focus->last_pos = 0;
__v4l2_ctrl_modify_range(motor->focus_ctrl, motor->focus->min_pos,
motor->focus->max_pos - motor->focus->reback,
1, 0);
}
static int motor_reinit_zoom(struct motor_dev *motor)
{
int ret = 0;
if (!IS_ERR(motor->zoom->pic_gpio)) {
mutex_lock(&motor->mutex);
if (motor->pi_gpio_usecnt == 0) {
if (!IS_ERR(motor->focus->pia_gpio))
gpiod_set_value(motor->focus->pia_gpio, 1);
if (!IS_ERR(motor->focus->pie_gpio))
gpiod_set_value(motor->focus->pie_gpio, 0);
msleep(250);
}
motor->pi_gpio_usecnt++;
mutex_unlock(&motor->mutex);
#ifdef PI_TEST
motor->zoom->last_pos = motor->zoom->step_max;
ret = set_motor_running_status(motor,
motor->zoom,
0,
false,
false,
false);
wait_for_motor_stop(motor, motor->zoom);
#else
motor->zoom->last_pos = 0;
#endif
ret = motor_find_pi(motor, motor->zoom, 200);
if (ret < 0) {
dev_err(&motor->spi->dev,
"get zoom pi fail, pls check it\n");
return -EINVAL;
}
#ifdef PI_TEST
min = -ret;
max = motor->zoom->step_max + min;
motor->zoom->min_pos = min;
motor->zoom->max_pos = max;
#endif
mutex_lock(&motor->mutex);
if (motor->pi_gpio_usecnt == 1) {
if (!IS_ERR(motor->focus->pia_gpio))
gpiod_set_value(motor->focus->pia_gpio, 0);
if (!IS_ERR(motor->focus->pie_gpio))
gpiod_set_value(motor->focus->pie_gpio, 0);
}
motor->pi_gpio_usecnt--;
mutex_unlock(&motor->mutex);
} else {
motor->zoom->last_pos = motor->zoom->step_max;
ret = set_motor_running_status(motor,
motor->zoom,
0,
false,
false,
true);
wait_for_motor_stop(motor, motor->zoom);
}
return 0;
}
static void motor_reinit_zoom_pos(struct motor_dev *motor)
{
if (!motor->zoom) {
dev_err(&motor->spi->dev,
"not support zoom\n");
return;
}
motor_reinit_zoom(motor);
motor->zoom->last_pos = 0;
__v4l2_ctrl_modify_range(motor->zoom_ctrl, motor->zoom->min_pos,
motor->zoom->max_pos - motor->zoom->reback,
1, 0);
}
static int motor_reinit_zoom1(struct motor_dev *motor)
{
int ret = 0;
if (!IS_ERR(motor->zoom1->pic_gpio)) {
if (!IS_ERR(motor->zoom1->pia_gpio))
gpiod_set_value(motor->zoom1->pia_gpio, 1);
if (!IS_ERR(motor->zoom1->pie_gpio))
gpiod_set_value(motor->zoom1->pie_gpio, 0);
msleep(250);
#ifdef PI_TEST
motor->zoom1->last_pos = motor->zoom1->step_max;
ret = set_motor_running_status(motor,
motor->zoom1,
0,
false,
false,
false);
wait_for_motor_stop(motor, motor->zoom1);
#else
motor->zoom1->last_pos = 0;
#endif
ret = motor_find_pi(motor, motor->zoom1, 200);
if (ret < 0) {
dev_err(&motor->spi->dev,
"get zoom1 pi fail, pls check it\n");
return -EINVAL;
}
#ifdef PI_TEST
min = -ret;
max = motor->zoom1->step_max + min;
motor->zoom1->min_pos = min;
motor->zoom1->max_pos = max;
#endif
if (!IS_ERR(motor->zoom1->pia_gpio))
gpiod_set_value(motor->zoom1->pia_gpio, 0);
if (!IS_ERR(motor->zoom1->pie_gpio))
gpiod_set_value(motor->zoom1->pie_gpio, 0);
} else {
motor->zoom1->last_pos = motor->zoom1->step_max;
ret = set_motor_running_status(motor,
motor->zoom1,
0,
false,
false,
true);
wait_for_motor_stop(motor, motor->zoom1);
}
return 0;
}
static void motor_reinit_zoom1_pos(struct motor_dev *motor)
{
if (!motor->zoom1) {
dev_err(&motor->spi->dev,
"not support zoom1\n");
return;
}
motor_reinit_zoom1(motor);
motor->zoom1->last_pos = 0;
__v4l2_ctrl_modify_range(motor->zoom1_ctrl, motor->zoom1->min_pos,
motor->zoom1->max_pos - motor->zoom1->reback,
1, 0);
}
//#define REBACK_CTRL_BY_DRV
static int motor_set_focus(struct motor_dev *motor, struct rk_cam_set_focus *mv_param)
{
int ret = 0;
bool is_need_reback = mv_param->is_need_reback;
#ifdef REBACK_CTRL_BY_DRV
if (mv_param->focus_pos > motor->focus->last_pos)
is_need_reback = false;
else
is_need_reback = true;
#endif
dev_dbg(&motor->spi->dev,
"%s focus %d\n", __func__, mv_param->focus_pos);
ret = set_motor_running_status(motor,
motor->focus,
mv_param->focus_pos,
true,
false,
is_need_reback);
wait_for_motor_stop(motor, motor->focus);
return ret;
}
static long motor_ioctl(struct v4l2_subdev *sd, unsigned int cmd, void *arg)
{
struct rk_cam_vcm_tim *mv_tim;
struct motor_dev *motor = to_motor_dev(sd);
u32 *pbacklash = 0;
struct rk_cam_set_zoom *mv_param;
struct rk_cam_set_focus *focus_param;
int ret = 0;
struct rk_cam_modify_pos *pos;
switch (cmd) {
case RK_VIDIOC_IRIS_TIMEINFO:
mv_tim = (struct rk_cam_vcm_tim *)arg;
if (!motor->piris->is_mv_tim_update)
usleep_range(motor->piris->move_time_us,
motor->piris->move_time_us + 1000);
if (motor->piris->is_mv_tim_update) {
memcpy(mv_tim, &motor->piris->mv_tim, sizeof(*mv_tim));
dev_dbg(&motor->spi->dev,
"get_piris_move_tim 0x%lx, 0x%lx, 0x%lx, 0x%lx\n",
mv_tim->vcm_start_t.tv_sec,
mv_tim->vcm_start_t.tv_usec,
mv_tim->vcm_end_t.tv_sec,
mv_tim->vcm_end_t.tv_usec);
} else {
dev_err(&motor->spi->dev, "get_piris_move_tim failed\n");
return -EINVAL;
}
break;
case RK_VIDIOC_VCM_TIMEINFO:
mv_tim = (struct rk_cam_vcm_tim *)arg;
if (!motor->focus->is_mv_tim_update)
usleep_range(motor->focus->move_time_us,
motor->focus->move_time_us + 1000);
if (motor->focus->is_mv_tim_update) {
memcpy(mv_tim, &motor->focus->mv_tim, sizeof(*mv_tim));
dev_dbg(&motor->spi->dev,
"get_focus_move_tim 0x%lx, 0x%lx, 0x%lx, 0x%lx\n",
mv_tim->vcm_start_t.tv_sec,
mv_tim->vcm_start_t.tv_usec,
mv_tim->vcm_end_t.tv_sec,
mv_tim->vcm_end_t.tv_usec);
} else {
dev_err(&motor->spi->dev, "get_focus_move_tim failed\n");
return -EINVAL;
}
break;
case RK_VIDIOC_ZOOM_TIMEINFO:
mv_tim = (struct rk_cam_vcm_tim *)arg;
if (!motor->zoom->is_mv_tim_update)
usleep_range(motor->zoom->move_time_us,
motor->zoom->move_time_us + 1000);
if (motor->zoom->is_mv_tim_update) {
memcpy(mv_tim, &motor->zoom->mv_tim, sizeof(*mv_tim));
dev_dbg(&motor->spi->dev,
"get_zoom_move_tim 0x%lx, 0x%lx, 0x%lx, 0x%lx\n",
mv_tim->vcm_start_t.tv_sec,
mv_tim->vcm_start_t.tv_usec,
mv_tim->vcm_end_t.tv_sec,
mv_tim->vcm_end_t.tv_usec);
} else {
dev_err(&motor->spi->dev, "get_zoom_move_tim failed\n");
return -EINVAL;
}
break;
case RK_VIDIOC_ZOOM1_TIMEINFO:
mv_tim = (struct rk_cam_vcm_tim *)arg;
if (!motor->zoom1->is_mv_tim_update)
usleep_range(motor->zoom1->move_time_us,
motor->zoom1->move_time_us + 1000);
if (motor->zoom1->is_mv_tim_update) {
memcpy(mv_tim, &motor->zoom1->mv_tim, sizeof(*mv_tim));
dev_dbg(&motor->spi->dev,
"get_zoom_move_tim 0x%lx, 0x%lx, 0x%lx, 0x%lx\n",
mv_tim->vcm_start_t.tv_sec,
mv_tim->vcm_start_t.tv_usec,
mv_tim->vcm_end_t.tv_sec,
mv_tim->vcm_end_t.tv_usec);
} else {
dev_err(&motor->spi->dev, "get_zoom_move_tim failed\n");
return -EINVAL;
}
break;
case RK_VIDIOC_IRIS_SET_BACKLASH:
pbacklash = (u32 *)arg;
motor->piris->backlash = *pbacklash;
break;
case RK_VIDIOC_FOCUS_SET_BACKLASH:
pbacklash = (u32 *)arg;
motor->focus->backlash = *pbacklash;
break;
case RK_VIDIOC_ZOOM_SET_BACKLASH:
pbacklash = (u32 *)arg;
motor->zoom->backlash = *pbacklash;
break;
case RK_VIDIOC_ZOOM1_SET_BACKLASH:
pbacklash = (u32 *)arg;
motor->zoom1->backlash = *pbacklash;
break;
case RK_VIDIOC_IRIS_CORRECTION:
motor_reinit_piris_pos(motor);
break;
case RK_VIDIOC_FOCUS_CORRECTION:
motor_reinit_focus_pos(motor);
break;
case RK_VIDIOC_ZOOM_CORRECTION:
motor_reinit_zoom_pos(motor);
break;
case RK_VIDIOC_ZOOM1_CORRECTION:
motor_reinit_zoom1_pos(motor);
break;
case RK_VIDIOC_ZOOM_SET_POSITION:
mv_param = (struct rk_cam_set_zoom *)arg;
ret = motor_set_zoom_follow(motor, mv_param);
break;
case RK_VIDIOC_FOCUS_SET_POSITION:
focus_param = (struct rk_cam_set_focus *)arg;
ret = motor_set_focus(motor, focus_param);
break;
case RK_VIDIOC_MODIFY_POSITION:
pos = (struct rk_cam_modify_pos *)arg;
if (motor->focus)
motor->focus->last_pos = pos->focus_pos;
if (motor->zoom)
motor->zoom->last_pos = pos->zoom_pos;
if (motor->zoom1)
motor->zoom1->last_pos = pos->zoom1_pos;
break;
default:
break;
}
return ret;
}
#ifdef CONFIG_COMPAT
static long motor_compat_ioctl32(struct v4l2_subdev *sd, unsigned int cmd, unsigned long arg)
{
void __user *up = compat_ptr(arg);
struct rk_cam_compat_vcm_tim *compat_mv_tim;
struct rk_cam_set_zoom *mv_param;
struct rk_cam_set_focus *focus_param;
struct rk_cam_vcm_tim ioctl_mv_tim;
unsigned int ioctl_cmd;
int ret = 0;
u32 val = 0;
switch (cmd) {
case RK_VIDIOC_COMPAT_VCM_TIMEINFO:
ioctl_cmd = RK_VIDIOC_VCM_TIMEINFO;
goto handle_mvtime;
case RK_VIDIOC_COMPAT_IRIS_TIMEINFO:
ioctl_cmd = RK_VIDIOC_IRIS_TIMEINFO;
goto handle_mvtime;
case RK_VIDIOC_COMPAT_ZOOM_TIMEINFO:
ioctl_cmd = RK_VIDIOC_ZOOM_TIMEINFO;
goto handle_mvtime;
case RK_VIDIOC_COMPAT_ZOOM1_TIMEINFO:
ioctl_cmd = RK_VIDIOC_ZOOM1_TIMEINFO;
handle_mvtime:
compat_mv_tim = kzalloc(sizeof(*compat_mv_tim), GFP_KERNEL);
if (!compat_mv_tim) {
ret = -ENOMEM;
return ret;
}
ret = motor_ioctl(sd, ioctl_cmd, &ioctl_mv_tim);
if (!ret) {
compat_mv_tim->vcm_start_t.tv_sec = ioctl_mv_tim.vcm_start_t.tv_sec;
compat_mv_tim->vcm_start_t.tv_usec = ioctl_mv_tim.vcm_start_t.tv_usec;
compat_mv_tim->vcm_end_t.tv_sec = ioctl_mv_tim.vcm_end_t.tv_sec;
compat_mv_tim->vcm_end_t.tv_usec = ioctl_mv_tim.vcm_end_t.tv_usec;
if (copy_to_user(up, compat_mv_tim, sizeof(*compat_mv_tim))) {
kfree(compat_mv_tim);
return -EFAULT;
}
}
kfree(compat_mv_tim);
break;
case RK_VIDIOC_IRIS_SET_BACKLASH:
case RK_VIDIOC_FOCUS_SET_BACKLASH:
case RK_VIDIOC_ZOOM_SET_BACKLASH:
case RK_VIDIOC_ZOOM1_SET_BACKLASH:
if (copy_from_user(&val, up, sizeof(val)))
return -EFAULT;
ret = motor_ioctl(sd, cmd, &val);
break;
case RK_VIDIOC_IRIS_CORRECTION:
case RK_VIDIOC_FOCUS_CORRECTION:
case RK_VIDIOC_ZOOM_CORRECTION:
case RK_VIDIOC_ZOOM1_CORRECTION:
if (copy_from_user(&val, up, sizeof(val)))
return -EFAULT;
ret = motor_ioctl(sd, cmd, &val);
break;
case RK_VIDIOC_ZOOM_SET_POSITION:
mv_param = kzalloc(sizeof(*mv_param), GFP_KERNEL);
if (!mv_param) {
ret = -ENOMEM;
return ret;
}
if (copy_from_user(mv_param, up, sizeof(*mv_param))) {
kfree(mv_param);
return -EFAULT;
}
ret = motor_ioctl(sd, cmd, mv_param);
kfree(mv_param);
break;
case RK_VIDIOC_FOCUS_SET_POSITION:
focus_param = kzalloc(sizeof(*focus_param), GFP_KERNEL);
if (!focus_param) {
ret = -ENOMEM;
return ret;
}
if (copy_from_user(focus_param, up, sizeof(*focus_param))) {
kfree(focus_param);
return -EFAULT;
}
ret = motor_ioctl(sd, cmd, focus_param);
kfree(focus_param);
break;
default:
break;
}
return ret;
}
#endif
#define USED_SYS_DEBUG
#ifdef USED_SYS_DEBUG
static ssize_t set_pid_dgain(struct device *dev,
struct device_attribute *attr,
const char *buf,
size_t count)
{
struct v4l2_subdev *sd = dev_get_drvdata(dev);
struct motor_dev *motor = to_motor_dev(sd);
int val = 0;
int ret = 0;
u16 reg_val = 0;
ret = kstrtoint(buf, 0, &val);
if (!ret) {
if (motor->is_use_dc_iris) {
spi_read_reg(motor->spi, 0x01, &reg_val);
reg_val &= 0x01ff;
reg_val |= (val & 0x7f) << 9;
spi_write_reg(motor->spi, 0x01, reg_val);
gpiod_set_value(motor->dciris->vd_iris_gpio, 1);
usleep_range(200, 400);
gpiod_set_value(motor->dciris->vd_iris_gpio, 0);
dev_info(dev, "set pid dgain %d, reg val 0x%x\n", val, reg_val);
spi_read_reg(motor->spi, 0x01, &reg_val);
dev_info(dev, "pid dgain reg val 0x%x, read from register\n", reg_val);
} else {
dev_err(dev, "not support dc-iris, do nothing\n");
}
}
return count;
}
static ssize_t set_pid_zero(struct device *dev,
struct device_attribute *attr,
const char *buf,
size_t count)
{
struct v4l2_subdev *sd = dev_get_drvdata(dev);
struct motor_dev *motor = to_motor_dev(sd);
int val = 0;
int ret = 0;
u16 reg_val = 0;
ret = kstrtoint(buf, 0, &val);
if (!ret) {
if (motor->is_use_dc_iris) {
spi_read_reg(motor->spi, 0x02, &reg_val);
reg_val &= 0xf0ff;
reg_val |= (val & 0xf) << 8;
spi_write_reg(motor->spi, 0x02, reg_val);
gpiod_set_value(motor->dciris->vd_iris_gpio, 1);
usleep_range(200, 400);
gpiod_set_value(motor->dciris->vd_iris_gpio, 0);
dev_info(dev, "set pid zero %d, reg val 0x%x\n", val, reg_val);
spi_read_reg(motor->spi, 0x02, &reg_val);
dev_info(dev, "pid zero reg val 0x%x, read from register\n", reg_val);
} else {
dev_err(dev, "not support dc-iris, do nothing\n");
}
}
return count;
}
static ssize_t set_pid_pole(struct device *dev,
struct device_attribute *attr,
const char *buf,
size_t count)
{
struct v4l2_subdev *sd = dev_get_drvdata(dev);
struct motor_dev *motor = to_motor_dev(sd);
int val = 0;
int ret = 0;
u16 reg_val = 0;
ret = kstrtoint(buf, 0, &val);
if (!ret) {
if (motor->is_use_dc_iris) {
spi_read_reg(motor->spi, 0x02, &reg_val);
reg_val &= 0x0fff;
reg_val |= (val & 0xf) << 12;
spi_write_reg(motor->spi, 0x02, reg_val);
gpiod_set_value(motor->dciris->vd_iris_gpio, 1);
usleep_range(200, 400);
gpiod_set_value(motor->dciris->vd_iris_gpio, 0);
dev_info(dev, "set pid pole %d, reg val 0x%x\n", val, reg_val);
spi_read_reg(motor->spi, 0x02, &reg_val);
dev_info(dev, "pid pole reg val 0x%x, read from register\n", reg_val);
} else {
dev_err(dev, "not support dc-iris, do nothing\n");
}
}
return count;
}
static ssize_t set_hall_bias(struct device *dev,
struct device_attribute *attr,
const char *buf,
size_t count)
{
struct v4l2_subdev *sd = dev_get_drvdata(dev);
struct motor_dev *motor = to_motor_dev(sd);
int val = 0;
int ret = 0;
u16 reg_val = 0;
ret = kstrtoint(buf, 0, &val);
if (!ret) {
if (motor->is_use_dc_iris) {
spi_read_reg(motor->spi, 0x04, &reg_val);
reg_val &= 0xff00;
reg_val |= val & 0xff;
spi_write_reg(motor->spi, 0x04, reg_val);
gpiod_set_value(motor->dciris->vd_iris_gpio, 1);
usleep_range(200, 400);
gpiod_set_value(motor->dciris->vd_iris_gpio, 0);
dev_info(dev, "set hall_bias %d, reg val 0x%x\n", val, reg_val);
spi_read_reg(motor->spi, 0x04, &reg_val);
dev_info(dev, "hall bias reg val 0x%x, read from register\n", reg_val);
} else {
dev_err(dev, "not support dc-iris, do nothing\n");
}
}
return count;
}
static ssize_t set_hall_offset(struct device *dev,
struct device_attribute *attr,
const char *buf,
size_t count)
{
struct v4l2_subdev *sd = dev_get_drvdata(dev);
struct motor_dev *motor = to_motor_dev(sd);
int val = 0;
int ret = 0;
u16 reg_val = 0;
ret = kstrtoint(buf, 0, &val);
if (!ret) {
if (motor->is_use_dc_iris) {
spi_read_reg(motor->spi, 0x04, &reg_val);
reg_val &= 0x00ff;
reg_val |= (val & 0xff) << 8;
spi_write_reg(motor->spi, 0x04, reg_val);
gpiod_set_value(motor->dciris->vd_iris_gpio, 1);
usleep_range(200, 400);
gpiod_set_value(motor->dciris->vd_iris_gpio, 0);
dev_info(dev, "set hall_offset %d, reg val 0x%x\n", val, reg_val);
spi_read_reg(motor->spi, 0x04, &reg_val);
dev_info(dev, "hall offset reg val 0x%x, read from register\n", reg_val);
} else {
dev_err(dev, "not support dc-iris, do nothing\n");
}
}
return count;
}
static ssize_t set_hall_gain(struct device *dev,
struct device_attribute *attr,
const char *buf,
size_t count)
{
struct v4l2_subdev *sd = dev_get_drvdata(dev);
struct motor_dev *motor = to_motor_dev(sd);
int val = 0;
int ret = 0;
u16 reg_val = 0;
ret = kstrtoint(buf, 0, &val);
if (!ret) {
if (motor->is_use_dc_iris) {
spi_read_reg(motor->spi, 0x05, &reg_val);
reg_val &= 0xf0ff;
reg_val |= (val & 0xf) << 8;
spi_write_reg(motor->spi, 0x05, reg_val);
gpiod_set_value(motor->dciris->vd_iris_gpio, 1);
usleep_range(200, 400);
gpiod_set_value(motor->dciris->vd_iris_gpio, 0);
dev_info(dev, "set hall_offset %d, reg val 0x%04x\n", val, reg_val);
spi_read_reg(motor->spi, 0x05, &reg_val);
dev_info(dev, "hall gain reg val 0x%04x, read from register\n", reg_val);
} else {
dev_err(dev, "not support dc-iris, do nothing\n");
}
}
return count;
}
static ssize_t reinit_piris_pos(struct device *dev,
struct device_attribute *attr,
const char *buf,
size_t count)
{
struct v4l2_subdev *sd = dev_get_drvdata(dev);
struct motor_dev *motor = to_motor_dev(sd);
int val = 0;
int ret = 0;
ret = kstrtoint(buf, 0, &val);
if (!ret) {
if (val == 1)
motor_reinit_piris_pos(motor);
}
return count;
}
static ssize_t reinit_focus_pos(struct device *dev,
struct device_attribute *attr,
const char *buf,
size_t count)
{
struct v4l2_subdev *sd = dev_get_drvdata(dev);
struct motor_dev *motor = to_motor_dev(sd);
int val = 0;
int ret = 0;
ret = kstrtoint(buf, 0, &val);
if (!ret) {
if (val == 1)
motor_reinit_focus_pos(motor);
}
return count;
}
static ssize_t reinit_zoom_pos(struct device *dev,
struct device_attribute *attr,
const char *buf,
size_t count)
{
struct v4l2_subdev *sd = dev_get_drvdata(dev);
struct motor_dev *motor = to_motor_dev(sd);
int val = 0;
int ret = 0;
ret = kstrtoint(buf, 0, &val);
if (!ret) {
if (val == 1)
motor_reinit_zoom_pos(motor);
}
return count;
}
static ssize_t reinit_zoom1_pos(struct device *dev,
struct device_attribute *attr,
const char *buf,
size_t count)
{
struct v4l2_subdev *sd = dev_get_drvdata(dev);
struct motor_dev *motor = to_motor_dev(sd);
int val = 0;
int ret = 0;
ret = kstrtoint(buf, 0, &val);
if (!ret) {
if (val == 1)
motor_reinit_zoom1_pos(motor);
}
return count;
}
static ssize_t set_focus_reback_ctrl(struct device *dev,
struct device_attribute *attr,
const char *buf,
size_t count)
{
struct v4l2_subdev *sd = dev_get_drvdata(dev);
struct motor_dev *motor = to_motor_dev(sd);
int val = 0;
int ret = 0;
ret = kstrtoint(buf, 0, &val);
if (!ret) {
if (val == 1)
motor->focus->reback_ctrl = true;
else
motor->focus->reback_ctrl = false;
}
return count;
}
static ssize_t set_zoom_reback_ctrl(struct device *dev,
struct device_attribute *attr,
const char *buf,
size_t count)
{
struct v4l2_subdev *sd = dev_get_drvdata(dev);
struct motor_dev *motor = to_motor_dev(sd);
int val = 0;
int ret = 0;
ret = kstrtoint(buf, 0, &val);
if (!ret) {
if (val == 1)
motor->zoom->reback_ctrl = true;
else
motor->zoom->reback_ctrl = false;
}
return count;
}
static struct device_attribute attributes[] = {
__ATTR(pid_dgain, S_IWUSR, NULL, set_pid_dgain),
__ATTR(pid_zero, S_IWUSR, NULL, set_pid_zero),
__ATTR(pid_pole, S_IWUSR, NULL, set_pid_pole),
__ATTR(hall_bias, S_IWUSR, NULL, set_hall_bias),
__ATTR(hall_offset, S_IWUSR, NULL, set_hall_offset),
__ATTR(hall_gain, S_IWUSR, NULL, set_hall_gain),
__ATTR(reinit_piris, S_IWUSR, NULL, reinit_piris_pos),
__ATTR(reinit_focus, S_IWUSR, NULL, reinit_focus_pos),
__ATTR(reinit_zoom, S_IWUSR, NULL, reinit_zoom_pos),
__ATTR(reinit_zoom1, S_IWUSR, NULL, reinit_zoom1_pos),
__ATTR(focus_reback_ctrl, S_IWUSR, NULL, set_focus_reback_ctrl),
__ATTR(zoom_reback_ctrl, S_IWUSR, NULL, set_zoom_reback_ctrl),
};
static int add_sysfs_interfaces(struct device *dev)
{
int i;
for (i = 0; i < ARRAY_SIZE(attributes); i++)
if (device_create_file(dev, attributes + i))
goto undo;
return 0;
undo:
for (i--; i >= 0 ; i--)
device_remove_file(dev, attributes + i);
dev_err(dev, "%s: failed to create sysfs interface\n", __func__);
return -ENODEV;
}
static int remove_sysfs_interfaces(struct device *dev)
{
int i;
for (i = 0; i < ARRAY_SIZE(attributes); i++)
device_remove_file(dev, attributes + i);
return 0;
}
#endif
static const struct v4l2_subdev_core_ops motor_core_ops = {
.ioctl = motor_ioctl,
#ifdef CONFIG_COMPAT
.compat_ioctl32 = motor_compat_ioctl32
#endif
};
static const struct v4l2_subdev_ops motor_subdev_ops = {
.core = &motor_core_ops,
};
static const struct v4l2_ctrl_ops motor_ctrl_ops = {
.g_volatile_ctrl = motor_g_volatile_ctrl,
.s_ctrl = motor_s_ctrl,
};
static int motor_initialize_controls(struct motor_dev *motor)
{
struct v4l2_ctrl_handler *handler;
int ret = 0;
#ifdef PI_TEST
int min = 0;
int max = 0;
#endif
unsigned long flags = V4L2_CTRL_FLAG_EXECUTE_ON_WRITE | V4L2_CTRL_FLAG_VOLATILE;
handler = &motor->ctrl_handler;
ret = v4l2_ctrl_handler_init(handler, 3);
if (ret)
return ret;
if (motor->is_use_dc_iris) {
motor->iris_ctrl = v4l2_ctrl_new_std(handler, &motor_ctrl_ops,
V4L2_CID_IRIS_ABSOLUTE, 0, motor->dciris->max_log, 1, 0);
if (motor->iris_ctrl)
motor->iris_ctrl->flags |= flags;
} else if (motor->is_use_p_iris) {
#ifdef REINIT_BOOT
ret = motor_reinit_piris(motor);
if (ret < 0)
return -EINVAL;
#endif
motor->piris->last_pos = motor->piris->min_pos;
motor->iris_ctrl = v4l2_ctrl_new_std(handler, &motor_ctrl_ops,
V4L2_CID_IRIS_ABSOLUTE,
motor->piris->min_pos,
motor->piris->max_pos,
1, motor->piris->min_pos);
if (motor->iris_ctrl)
motor->iris_ctrl->flags |= flags;
}
if (motor->is_use_focus) {
#ifdef REINIT_BOOT
ret = motor_reinit_focus(motor);
if (ret < 0)
return -EINVAL;
#endif
motor->focus->last_pos = motor->focus->min_pos;
motor->focus_ctrl = v4l2_ctrl_new_std(handler, &motor_ctrl_ops,
V4L2_CID_FOCUS_ABSOLUTE, motor->focus->min_pos,
motor->focus->max_pos - motor->focus->reback,
1, motor->focus->min_pos);
if (motor->focus_ctrl)
motor->focus_ctrl->flags |= flags;
}
if (motor->is_use_zoom) {
#ifdef REINIT_BOOT
ret = motor_reinit_zoom(motor);
if (ret < 0)
return -EINVAL;
#endif
motor->zoom->last_pos = motor->zoom->min_pos;
motor->zoom_ctrl = v4l2_ctrl_new_std(handler, &motor_ctrl_ops,
V4L2_CID_ZOOM_ABSOLUTE,
motor->zoom->min_pos,
motor->zoom->max_pos - motor->zoom->reback,
1, motor->zoom->min_pos);
if (motor->zoom_ctrl)
motor->zoom_ctrl->flags |= flags;
}
if (motor->is_use_zoom1) {
#ifdef REINIT_BOOT
ret = motor_reinit_zoom1(motor);
if (ret < 0)
return -EINVAL;
#endif
motor->zoom1->last_pos = motor->zoom1->min_pos;
motor->zoom1_ctrl = v4l2_ctrl_new_std(handler, &motor_ctrl_ops,
V4L2_CID_ZOOM_CONTINUOUS,
motor->zoom1->min_pos,
motor->zoom1->max_pos,
1, motor->zoom1->min_pos);
if (motor->zoom1_ctrl)
motor->zoom1_ctrl->flags |= flags;
}
if (handler->error) {
ret = handler->error;
dev_err(&motor->spi->dev,
"Failed to init controls(%d)\n", ret);
goto err_free_handler;
}
motor->subdev.ctrl_handler = handler;
return ret;
err_free_handler:
v4l2_ctrl_handler_free(handler);
return ret;
}
static void dev_param_init(struct motor_dev *motor)
{
int step = 0;
u32 mv_cnt = 0;
u32 status = 0;
u32 reback_vd_cnt = 0;
if (motor->is_use_dc_iris)
motor->dciris->last_log = 0;
if (motor->is_use_p_iris) {
motor->piris->is_mv_tim_update = false;
motor->piris->is_need_update_tim = false;
motor->piris->move_status = MOTOR_STATUS_STOPPED;
motor->piris->type = TYPE_IRIS;
motor->piris->mv_tim.vcm_start_t = ns_to_timeval(ktime_get_ns());
motor->piris->mv_tim.vcm_end_t = ns_to_timeval(ktime_get_ns());
init_completion(&motor->piris->complete);
init_completion(&motor->piris->complete_out);
motor->piris->run_data.psum = motor->vd_fz_period_us *
motor->piris->start_up_speed * 8 / 1000000;
motor->piris->run_data.intct = 27 * motor->vd_fz_period_us /
(motor->piris->run_data.psum * 24);
motor->piris->is_running = false;
dev_info(&motor->spi->dev,
"piris vd_fz_period_us %u, psum %d, inict %d\n",
motor->vd_fz_period_us,
motor->piris->run_data.psum,
motor->piris->run_data.intct);
}
if (motor->is_use_focus) {
motor->focus->is_mv_tim_update = false;
motor->focus->is_need_update_tim = false;
motor->focus->move_status = MOTOR_STATUS_STOPPED;
motor->focus->type = TYPE_FOCUS;
motor->focus->mv_tim.vcm_start_t = ns_to_timeval(ktime_get_ns());
motor->focus->mv_tim.vcm_end_t = ns_to_timeval(ktime_get_ns());
init_completion(&motor->focus->complete);
init_completion(&motor->focus->complete_out);
motor->focus->run_data.psum = motor->vd_fz_period_us *
motor->focus->start_up_speed * 8 / 1000000;
motor->focus->run_data.intct = 27 * motor->vd_fz_period_us /
(motor->focus->run_data.psum * 24);
motor->focus->is_running = false;
motor->focus->reback_ctrl = false;
dev_info(&motor->spi->dev,
"focus vd_fz_period_us %u, psum %d, inict %d\n",
motor->vd_fz_period_us,
motor->focus->run_data.psum,
motor->focus->run_data.intct);
if (motor->focus->reback != 0) {
motor->focus->cur_back_delay = 0;
motor->focus->max_back_delay = FOCUS_MAX_BACK_DELAY;
motor->focus->reback_data = motor->focus->run_data;
mv_cnt = motor->focus->reback;
if (motor->focus->is_dir_opp) {
mv_cnt += motor->focus->backlash;
status = MOTOR_STATUS_CW;
} else {
mv_cnt += motor->focus->backlash;
status = MOTOR_STATUS_CCW;
}
motor->focus->reback_status = status;
if (motor->focus->is_half_step_mode)
step = mv_cnt * 4;
else
step = mv_cnt * 8;
motor->focus->reback_data.count = (step + motor->focus->reback_data.psum - 1) /
motor->focus->reback_data.psum + 1;
motor->focus->reback_data.cur_count = motor->focus->reback_data.count;
motor->focus->reback_data.psum_last = step % motor->focus->reback_data.psum;
if (motor->focus->reback_data.psum_last == 0)
motor->focus->reback_data.psum_last = motor->focus->reback_data.psum;
reback_vd_cnt = motor->focus->reback_data.count + motor->focus->max_back_delay;
motor->focus->reback_move_time_us = reback_vd_cnt * (motor->vd_fz_period_us + 500);
}
}
if (motor->is_use_zoom) {
motor->zoom->is_mv_tim_update = false;
motor->zoom->is_need_update_tim = false;
motor->zoom->move_status = MOTOR_STATUS_STOPPED;
motor->zoom->type = TYPE_ZOOM;
motor->zoom->mv_tim.vcm_start_t = ns_to_timeval(ktime_get_ns());
motor->zoom->mv_tim.vcm_end_t = ns_to_timeval(ktime_get_ns());
init_completion(&motor->zoom->complete);
init_completion(&motor->zoom->complete_out);
motor->zoom->run_data.psum = motor->vd_fz_period_us *
motor->zoom->start_up_speed * 8 / 1000000;
motor->zoom->run_data.intct = 27 * motor->vd_fz_period_us /
(motor->zoom->run_data.psum * 24);
motor->zoom->is_running = false;
motor->zoom->reback_ctrl = false;
if (motor->zoom->reback != 0) {
motor->zoom->cur_back_delay = 0;
motor->zoom->max_back_delay = ZOOM_MAX_BACK_DELAY;
motor->zoom->reback_data = motor->zoom->run_data;
mv_cnt = motor->zoom->reback;
if (motor->zoom->is_dir_opp) {
mv_cnt += motor->zoom->backlash;
status = MOTOR_STATUS_CW;
} else {
mv_cnt += motor->zoom->backlash;
status = MOTOR_STATUS_CCW;
}
motor->zoom->reback_status = status;
if (motor->zoom->is_half_step_mode)
step = mv_cnt * 4;
else
step = mv_cnt * 8;
motor->zoom->reback_data.count = (step + motor->zoom->reback_data.psum - 1) /
motor->zoom->reback_data.psum + 1;
motor->zoom->reback_data.cur_count = motor->zoom->reback_data.count;
motor->zoom->reback_data.psum_last = step % motor->zoom->reback_data.psum;
if (motor->zoom->reback_data.psum_last == 0)
motor->zoom->reback_data.psum_last = motor->zoom->reback_data.psum;
reback_vd_cnt = motor->zoom->reback_data.count + motor->zoom->max_back_delay;
motor->zoom->reback_move_time_us = reback_vd_cnt * (motor->vd_fz_period_us + 500);
}
dev_info(&motor->spi->dev,
"zoom vd_fz_period_us %u, psum %d, inict %d\n",
motor->vd_fz_period_us,
motor->zoom->run_data.psum,
motor->zoom->run_data.intct);
}
if (motor->is_use_zoom1) {
motor->zoom1->is_mv_tim_update = false;
motor->zoom1->is_need_update_tim = false;
motor->zoom1->move_status = MOTOR_STATUS_STOPPED;
motor->zoom1->type = TYPE_ZOOM1;
motor->zoom1->mv_tim.vcm_start_t = ns_to_timeval(ktime_get_ns());
motor->zoom1->mv_tim.vcm_end_t = ns_to_timeval(ktime_get_ns());
init_completion(&motor->zoom1->complete);
init_completion(&motor->zoom1->complete_out);
motor->zoom1->run_data.psum = motor->vd_fz_period_us *
motor->zoom1->start_up_speed * 8 / 1000000;
motor->zoom1->run_data.intct = 27 * motor->vd_fz_period_us /
(motor->zoom1->run_data.psum * 24);
motor->zoom1->is_running = false;
motor->zoom1->reback_ctrl = false;
dev_info(&motor->spi->dev,
"zoom1 vd_fz_period_us %u, psum %d, inict %d\n",
motor->vd_fz_period_us,
motor->zoom1->run_data.psum,
motor->zoom1->run_data.intct);
}
motor->is_should_wait = false;
motor->is_timer_restart = false;
motor->is_timer_restart_bywq = false;
motor->wait_cnt = 0;
motor->pi_gpio_usecnt = 0;
}
static void dev_reg_init(struct motor_dev *motor)
{
spi_write_reg(motor->spi, 0x20, 0x1a01);//27M/(30*2^3*2^0)
spi_write_reg(motor->spi, 0x21, 0x0085);
spi_write_reg(motor->spi, 0x23, PPW_STOP);
spi_write_reg(motor->spi, 0x28, PPW_STOP);
if (motor->dev0)
spi_write_reg(motor->spi,
motor->dev0->reg_op->reg.dt2_phmod,
(motor->dev0->run_data.phmode << 8) | 0x0001);
if (motor->dev1)
spi_write_reg(motor->spi,
motor->dev1->reg_op->reg.dt2_phmod,
(motor->dev1->run_data.phmode << 8) | 0x0001);
spi_write_reg(motor->spi, 0x0b, 0x0480);
if (motor->is_use_dc_iris) {
//DC-IRIS reg init
if (motor->dciris->is_reversed_polarity)
spi_write_reg(motor->spi, 0x00,
motor->dciris->max_log - motor->dciris->last_log);
else
spi_write_reg(motor->spi, 0x00, motor->dciris->last_log);
spi_write_reg(motor->spi, 0x01, 0x6000);
spi_write_reg(motor->spi, 0x02, 0x66f0);
spi_write_reg(motor->spi, 0x03, 0x0e10);
spi_write_reg(motor->spi, 0x04, 0xd640);
spi_write_reg(motor->spi, 0x05, 0x0004);
spi_write_reg(motor->spi, 0x0b, 0x0480);
spi_write_reg(motor->spi, 0x0a, 0x0000);
spi_write_reg(motor->spi, 0x0e, 0x0300);
}
if (!IS_ERR(motor->vd_fz_gpio))
gpiod_set_value(motor->vd_fz_gpio, 1);
if (motor->is_use_dc_iris && (!IS_ERR(motor->dciris->vd_iris_gpio)))
gpiod_set_value(motor->dciris->vd_iris_gpio, 1);
usleep_range(100, 200);
if (!IS_ERR(motor->vd_fz_gpio))
gpiod_set_value(motor->vd_fz_gpio, 0);
if (motor->is_use_dc_iris && (!IS_ERR(motor->dciris->vd_iris_gpio)))
gpiod_set_value(motor->dciris->vd_iris_gpio, 0);
}
static int motor_check_id(struct motor_dev *motor)
{
u16 val = 0xffff;
int i = 0;
for (i = 0; i < 0x20; i++)
spi_read_reg(motor->spi, i, &val);
spi_read_reg(motor->spi, 0x20, &val);
if (val == 0xffff) {
dev_err(&motor->spi->dev,
"check id fail, spi transfer err or driver not connect, val 0x%x\n",
val);
return -EINVAL;
}
return 0;
}
static int dev_init(struct motor_dev *motor)
{
int ret = 0;
if (!IS_ERR(motor->reset_gpio)) {
gpiod_set_value_cansleep(motor->reset_gpio, 0);
usleep_range(100, 200);
gpiod_set_value_cansleep(motor->reset_gpio, 1);
}
ret = motor_check_id(motor);
if (ret < 0)
return -EINVAL;
dev_param_init(motor);
dev_reg_init(motor);
motor->wk = devm_kzalloc(&motor->spi->dev, sizeof(*motor->wk), GFP_KERNEL);
if (!motor->wk) {
dev_err(&motor->spi->dev, "failed to alloc work struct\n");
return -ENOMEM;
}
motor->wk->dev = motor;
INIT_WORK(&motor->wk->work, motor_op_work);
return 0;
}
static int motor_dev_probe(struct spi_device *spi)
{
int ret = 0;
struct device *dev = &spi->dev;
struct motor_dev *motor;
struct v4l2_subdev *sd;
char facing[2];
dev_info(dev, "driver version: %02x.%02x.%02x",
DRIVER_VERSION >> 16,
(DRIVER_VERSION & 0xff00) >> 8,
DRIVER_VERSION & 0x00ff);
motor = devm_kzalloc(dev, sizeof(*motor), GFP_KERNEL);
if (!motor)
return -ENOMEM;
spi->mode = SPI_MODE_3 | SPI_LSB_FIRST | SPI_CS_HIGH;
spi->irq = -1;
spi->max_speed_hz = 5000000;
spi->bits_per_word = 8;
ret = spi_setup(spi);
if (ret < 0) {
dev_err(dev, "could not setup spi!\n");
return -EINVAL;
}
motor->spi = spi;
motor->motor_op[0] = g_motor_op[0];
motor->motor_op[1] = g_motor_op[1];
if (motor_dev_parse_dt(motor)) {
dev_err(&motor->spi->dev, "parse dt error\n");
return -EINVAL;
}
ret = dev_init(motor);
if (ret)
goto err_free;
mutex_init(&motor->mutex);
hrtimer_init(&motor->timer, CLOCK_MONOTONIC, HRTIMER_MODE_REL);
motor->timer.function = motor_timer_func;
sd = &motor->subdev;
v4l2_spi_subdev_init(sd, spi, &motor_subdev_ops);
sd->entity.function = MEDIA_ENT_F_LENS;
sd->entity.flags = 0;
sd->flags |= V4L2_SUBDEV_FL_HAS_DEVNODE;
motor_initialize_controls(motor);
ret = media_entity_pads_init(&motor->subdev.entity, 0, NULL);
if (ret < 0)
goto err_free;
memset(facing, 0, sizeof(facing));
if (strcmp(motor->module_facing, "back") == 0)
facing[0] = 'b';
else
facing[0] = 'f';
snprintf(sd->name, sizeof(sd->name), "m%02d_%s_%s_%d",
motor->module_index, facing,
DRIVER_NAME,
motor->id);
ret = v4l2_async_register_subdev(sd);
if (ret)
dev_err(&spi->dev, "v4l2 async register subdev failed\n");
#ifdef USED_SYS_DEBUG
add_sysfs_interfaces(dev);
#endif
dev_info(&motor->spi->dev, "gpio motor driver probe success\n");
return 0;
err_free:
v4l2_ctrl_handler_free(&motor->ctrl_handler);
v4l2_device_unregister_subdev(&motor->subdev);
media_entity_cleanup(&motor->subdev.entity);
return ret;
}
static int motor_dev_remove(struct spi_device *spi)
{
struct v4l2_subdev *sd = spi_get_drvdata(spi);
struct motor_dev *motor = to_motor_dev(sd);
hrtimer_cancel(&motor->timer);
if (sd)
v4l2_device_unregister_subdev(sd);
v4l2_ctrl_handler_free(&motor->ctrl_handler);
media_entity_cleanup(&motor->subdev.entity);
#ifdef USED_SYS_DEBUG
remove_sysfs_interfaces(&spi->dev);
#endif
return 0;
}
static const struct spi_device_id motor_match_id[] = {
{"relmon,ms41908", 0 },
{ }
};
MODULE_DEVICE_TABLE(spi, motor_match_id);
#if defined(CONFIG_OF)
static const struct of_device_id motor_dev_of_match[] = {
{.compatible = "relmon,ms41908", },
{},
};
#endif
static struct spi_driver motor_dev_driver = {
.driver = {
.name = DRIVER_NAME,
.of_match_table = of_match_ptr(motor_dev_of_match),
},
.probe = &motor_dev_probe,
.remove = &motor_dev_remove,
.id_table = motor_match_id,
};
static int __init motor_mod_init(void)
{
return spi_register_driver(&motor_dev_driver);
}
static void __exit motor_mod_exit(void)
{
spi_unregister_driver(&motor_dev_driver);
}
device_initcall_sync(motor_mod_init);
module_exit(motor_mod_exit);
MODULE_LICENSE("GPL");
MODULE_ALIAS("platform:motor");
MODULE_AUTHOR("zefa.chen@rock-chips.com");
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