void pwm_release(struct pwm_device *p)
{
mutex_lock(&device_list_mutex);
if (!test_and_clear_bit(FLAG_REQUESTED, &p->flags)) {
pr_debug("%s pwm device is not requested!\n",
dev_name(p->dev));
goto done;
}
pwm_stop(p);
pwm_unsynchronize(p, NULL);
pwm_set_handler(p, NULL, NULL);
p->label = NULL;
p->pid = -1;
if (p->ops->release)
p->ops->release(p);
done:
mutex_unlock(&device_list_mutex);
}
/* IOCTL interface */
static int motor_ioctl (struct inode *in, struct file *fl, unsigned int cmd, \
unsigned long arg) {
int retval = 0, id;
unsigned long to_end;
struct cdev* p = in->i_cdev;
id = cdev_to_id (p);
switch (cmd) {
case MOTOR_ENABLE:
if ((int)arg)
gpio_set_value (g_enable[id], 0 ^ polarity[id]);
else
gpio_set_value (g_enable[id], 1 ^ polarity[id]);
break;
case MOTOR_DIR:
if ((int)arg)
gpio_set_value (g_dir[id], 1);
else
gpio_set_value (g_dir[id], 0);
break;
case MOTOR_PWM_ON:
pwm_start (pwmc[id]);
break;
case MOTOR_PWM_OFF:
pwm_stop (pwmc[id]);
break;
case MOTOR_PWM_SET:
//set the pwm period in ms
motor_pwm_set (pwmc[id], arg);
break;
case MOTOR_RESET:
steps[id] = 0; /* set the actual position as home */
break;
case MOTOR_STEPS:
steps_max[id] = arg; /* set the steps limit */
break;
case MOTOR_START:
if (g_step[id] == 0) {
} else {
if ((int)arg)
retval = pwm_set_handler (pwmc[id], &irq_steps_handler, NULL);
else
retval = pwm_set_handler (pwmc[id], NULL, NULL);
}
break;
case MOTOR_LOWPWR:
if ((int)arg)
gpio_set_value (g_lpwr[id], 1 ^ polarity[id]);
else
gpio_set_value (g_lpwr[id], 0 ^ polarity[id]);
break;
/* return steps_max-step */
case MOTOR_TO_END:
to_end = steps_max[id] - steps[id];
copy_to_user(&arg, &to_end, sizeof(unsigned long));
break;
default:
retval = -EINVAL;
}
return retval;
}
