253 lines
6.1 KiB
C
253 lines
6.1 KiB
C
// 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>
|
|
|
|
#define DRIVER_VERSION KERNEL_VERSION(0, 0x01, 0x00)
|
|
|
|
#define DRIVER_NAME "hall-dc"
|
|
|
|
#define IRIS_MAX_LOG 100
|
|
#define IRIS_LOG_STEP 1
|
|
|
|
#define PWM_PERIOD_DEF 333333
|
|
|
|
struct motor_dev {
|
|
struct v4l2_subdev sd;
|
|
struct v4l2_ctrl_handler ctrl_handler;
|
|
struct pwm_device *pwm;
|
|
struct device *dev;
|
|
struct mutex mutex;
|
|
struct pwm_state pwm_state;
|
|
u32 module_index;
|
|
const char *module_facing;
|
|
};
|
|
|
|
static int motor_dev_parse_dt(struct motor_dev *motor)
|
|
{
|
|
struct device_node *node = motor->dev->of_node;
|
|
int ret = 0;
|
|
int error = 0;
|
|
|
|
motor->pwm = devm_pwm_get(motor->dev, NULL);
|
|
if (IS_ERR(motor->pwm)) {
|
|
error = PTR_ERR(motor->pwm);
|
|
if (error != -EPROBE_DEFER)
|
|
dev_err(motor->dev, "Failed to request PWM device: %d\n", error);
|
|
return error;
|
|
}
|
|
if (motor->pwm && motor->pwm->args.period != 0) {
|
|
motor->pwm_state.period = motor->pwm->args.period;
|
|
motor->pwm_state.polarity = motor->pwm->args.polarity;
|
|
} else {
|
|
motor->pwm_state.period = PWM_PERIOD_DEF;
|
|
motor->pwm_state.polarity = 0;
|
|
}
|
|
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->dev,
|
|
"could not get module information!\n");
|
|
return -EINVAL;
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
static int motor_s_ctrl(struct v4l2_ctrl *ctrl)
|
|
{
|
|
int ret = 0;
|
|
struct motor_dev *motor = container_of(ctrl->handler,
|
|
struct motor_dev, ctrl_handler);
|
|
|
|
switch (ctrl->id) {
|
|
case V4L2_CID_IRIS_ABSOLUTE:
|
|
motor->pwm_state.enabled = true;
|
|
motor->pwm_state.duty_cycle =
|
|
div64_u64((u64)motor->pwm_state.period * ctrl->val, IRIS_MAX_LOG);
|
|
pwm_apply_state(motor->pwm, &motor->pwm_state);
|
|
dev_dbg(motor->dev, "iris, ctrl->val %d, pwm duty %lld, period %lld, polarity %d\n",
|
|
ctrl->val,
|
|
motor->pwm_state.duty_cycle,
|
|
motor->pwm_state.period,
|
|
motor->pwm_state.polarity);
|
|
break;
|
|
default:
|
|
dev_err(motor->dev, "not support cmd %d\n", ctrl->id);
|
|
break;
|
|
}
|
|
return ret;
|
|
}
|
|
|
|
static long motor_ioctl(struct v4l2_subdev *sd, unsigned int cmd, void *arg)
|
|
{
|
|
return 0;
|
|
}
|
|
|
|
static const struct v4l2_subdev_core_ops motor_core_ops = {
|
|
.ioctl = motor_ioctl,
|
|
};
|
|
|
|
static const struct v4l2_subdev_ops motor_subdev_ops = {
|
|
.core = &motor_core_ops,
|
|
};
|
|
|
|
static const struct v4l2_ctrl_ops motor_ctrl_ops = {
|
|
.s_ctrl = motor_s_ctrl,
|
|
};
|
|
|
|
static int motor_initialize_controls(struct motor_dev *motor)
|
|
{
|
|
struct v4l2_ctrl_handler *handler;
|
|
int ret = 0;
|
|
|
|
handler = &motor->ctrl_handler;
|
|
ret = v4l2_ctrl_handler_init(handler, 1);
|
|
if (ret)
|
|
return ret;
|
|
handler->lock = &motor->mutex;
|
|
v4l2_ctrl_new_std(handler, &motor_ctrl_ops,
|
|
V4L2_CID_IRIS_ABSOLUTE, 0, IRIS_MAX_LOG, IRIS_LOG_STEP, 0);
|
|
|
|
if (handler->error) {
|
|
ret = handler->error;
|
|
dev_err(motor->dev,
|
|
"Failed to init controls(%d)\n", ret);
|
|
goto err_free_handler;
|
|
}
|
|
|
|
motor->sd.ctrl_handler = handler;
|
|
return ret;
|
|
|
|
err_free_handler:
|
|
v4l2_ctrl_handler_free(handler);
|
|
|
|
return ret;
|
|
}
|
|
|
|
static int motor_dev_probe(struct platform_device *pdev)
|
|
{
|
|
int ret = 0;
|
|
struct motor_dev *motor;
|
|
struct v4l2_subdev *sd;
|
|
char facing[2];
|
|
|
|
dev_info(&pdev->dev, "driver version: %02x.%02x.%02x",
|
|
DRIVER_VERSION >> 16,
|
|
(DRIVER_VERSION & 0xff00) >> 8,
|
|
DRIVER_VERSION & 0x00ff);
|
|
motor = devm_kzalloc(&pdev->dev, sizeof(*motor), GFP_KERNEL);
|
|
if (!motor)
|
|
return -ENOMEM;
|
|
motor->dev = &pdev->dev;
|
|
dev_set_name(motor->dev, "motor");
|
|
dev_set_drvdata(motor->dev, motor);
|
|
if (motor_dev_parse_dt(motor)) {
|
|
dev_err(motor->dev, "parse dt error\n");
|
|
return -EINVAL;
|
|
}
|
|
mutex_init(&motor->mutex);
|
|
v4l2_subdev_init(&motor->sd, &motor_subdev_ops);
|
|
motor->sd.owner = pdev->dev.driver->owner;
|
|
motor->sd.flags |= V4L2_SUBDEV_FL_HAS_DEVNODE;
|
|
motor->sd.dev = &pdev->dev;
|
|
v4l2_set_subdevdata(&motor->sd, pdev);
|
|
platform_set_drvdata(pdev, &motor->sd);
|
|
motor_initialize_controls(motor);
|
|
if (ret)
|
|
goto err_free;
|
|
ret = media_entity_pads_init(&motor->sd.entity, 0, NULL);
|
|
if (ret < 0)
|
|
goto err_free;
|
|
sd = &motor->sd;
|
|
sd->entity.function = MEDIA_ENT_F_LENS;
|
|
sd->entity.flags = 2;
|
|
|
|
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",
|
|
motor->module_index, facing,
|
|
DRIVER_NAME);
|
|
ret = v4l2_async_register_subdev(sd);
|
|
if (ret)
|
|
dev_err(&pdev->dev, "v4l2 async register subdev failed\n");
|
|
|
|
dev_info(motor->dev, "gpio motor driver probe success\n");
|
|
return 0;
|
|
err_free:
|
|
v4l2_ctrl_handler_free(&motor->ctrl_handler);
|
|
v4l2_device_unregister_subdev(&motor->sd);
|
|
media_entity_cleanup(&motor->sd.entity);
|
|
return ret;
|
|
}
|
|
|
|
static int motor_dev_remove(struct platform_device *pdev)
|
|
{
|
|
struct v4l2_subdev *sd = platform_get_drvdata(pdev);
|
|
struct motor_dev *motor;
|
|
|
|
if (sd)
|
|
motor = v4l2_get_subdevdata(sd);
|
|
else
|
|
return -ENODEV;
|
|
if (sd)
|
|
v4l2_device_unregister_subdev(sd);
|
|
v4l2_ctrl_handler_free(&motor->ctrl_handler);
|
|
media_entity_cleanup(&motor->sd.entity);
|
|
return 0;
|
|
}
|
|
|
|
#if defined(CONFIG_OF)
|
|
static const struct of_device_id motor_dev_of_match[] = {
|
|
{ .compatible = "rockchip,hall-dc", },
|
|
{},
|
|
};
|
|
#endif
|
|
|
|
static struct platform_driver motor_dev_driver = {
|
|
.driver = {
|
|
.name = DRIVER_NAME,
|
|
.owner = THIS_MODULE,
|
|
.of_match_table = of_match_ptr(motor_dev_of_match),
|
|
},
|
|
.probe = motor_dev_probe,
|
|
.remove = motor_dev_remove,
|
|
};
|
|
|
|
module_platform_driver(motor_dev_driver);
|
|
|
|
MODULE_LICENSE("GPL");
|
|
MODULE_ALIAS("platform:motor");
|
|
MODULE_AUTHOR("ROCKCHIP");
|