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Try to fix some bugs in 3.10's motor driver #32

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7c29443
motor: 3.10: respect invert_gpio_dir in motor_move_step()
hyx0329 Jan 17, 2026
c3b6efd
motor: 3.10 use gpio_set_value() in interrupt context
hyx0329 Jan 17, 2026
99d2318
motor: 3.10: use cur_steps to determine motor power on state
hyx0329 Jan 17, 2026
8889f24
motor: 3.10: move motor_power_on inside spinlock
hyx0329 Jan 17, 2026
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57 changes: 31 additions & 26 deletions 3.10/misc/motor/motor.c
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Original file line number Diff line number Diff line change
Expand Up @@ -260,26 +260,30 @@ static void motor_power_off(struct motor_device *mdev)
}

// motor_power_on re-enables motor GPIO pins as outputs
// Called before motor movement to energize the coils
// Called before motor movement to ensure initial state of the coils.
static void motor_power_on(struct motor_device *mdev)
{
int index;
int value;
int step;
struct motor_driver *motor = NULL;

value = ((0 ^ invert_gpio_dir) & 0x1);

for (index = 0; index < NUMBER_OF_MOTORS; index++) {
motor = &mdev->motors[index];

// apply torque, assuming cur_steps reflects actual position
step = motor->cur_steps % 8;
step = step < 0 ? step + 8 : step;
value = invert_gpio_dir ? (step_8[step] ^ 0xff) : step_8[step];

if (motor->pdata->motor_st1_gpio != -1)
gpio_direction_output(motor->pdata->motor_st1_gpio, value);
gpio_set_value(motor->pdata->motor_st1_gpio, value & 0x8);
if (motor->pdata->motor_st2_gpio != -1)
gpio_direction_output(motor->pdata->motor_st2_gpio, value);
gpio_set_value(motor->pdata->motor_st2_gpio, value & 0x4);
if (motor->pdata->motor_st3_gpio != -1)
gpio_direction_output(motor->pdata->motor_st3_gpio, value);
gpio_set_value(motor->pdata->motor_st3_gpio, value & 0x2);
if (motor->pdata->motor_st4_gpio != -1)
gpio_direction_output(motor->pdata->motor_st4_gpio, value);
gpio_set_value(motor->pdata->motor_st4_gpio, value & 0x1);
}
}

Expand Down Expand Up @@ -312,29 +316,30 @@ static void motor_move_step(struct motor_device *mdev, int index)
step = motor->cur_steps % 8;
step = step < 0 ? step + 8 : step;

value = (step_8[step] ^ 0xff);
value = invert_gpio_dir ? (step_8[step] ^ 0xff) : step_8[step];

motor_set_direction(mdev, (index == PAN_MOTOR) ? MOTOR_MOVE_RIGHT_UP : MOTOR_MOVE_LEFT_DOWN);

if (motor->pdata->motor_st1_gpio != -1)
gpio_direction_output(motor->pdata->motor_st1_gpio, value & 0x8);
gpio_set_value(motor->pdata->motor_st1_gpio, value & 0x8);
if (motor->pdata->motor_st2_gpio != -1)
gpio_direction_output(motor->pdata->motor_st2_gpio, value & 0x4);
gpio_set_value(motor->pdata->motor_st2_gpio, value & 0x4);
if (motor->pdata->motor_st3_gpio != -1)
gpio_direction_output(motor->pdata->motor_st3_gpio, value & 0x2);
gpio_set_value(motor->pdata->motor_st3_gpio, value & 0x2);
if (motor->pdata->motor_st4_gpio != -1)
gpio_direction_output(motor->pdata->motor_st4_gpio, value & 0x1);
gpio_set_value(motor->pdata->motor_st4_gpio, value & 0x1);
} else {
value = ((0 ^ invert_gpio_dir) & 0x1);
// power off the coils
value = invert_gpio_dir ? 1 : 0;

if (motor->pdata->motor_st1_gpio != -1)
gpio_direction_output(motor->pdata->motor_st1_gpio, value);
gpio_set_value(motor->pdata->motor_st1_gpio, value);
if (motor->pdata->motor_st2_gpio != -1)
gpio_direction_output(motor->pdata->motor_st2_gpio, value);
gpio_set_value(motor->pdata->motor_st2_gpio, value);
if (motor->pdata->motor_st3_gpio != -1)
gpio_direction_output(motor->pdata->motor_st3_gpio, value);
gpio_set_value(motor->pdata->motor_st3_gpio, value);
if (motor->pdata->motor_st4_gpio != -1)
gpio_direction_output(motor->pdata->motor_st4_gpio, value);
gpio_set_value(motor->pdata->motor_st4_gpio, value);
}

if (motor->state == MOTOR_OPS_RESET) {
Expand Down Expand Up @@ -519,12 +524,12 @@ static long motor_ops_move(struct motor_device *mdev, int x, int y)
return 0;
}

/* Enable motor GPIO outputs before movement */
motor_power_on(mdev);

mutex_lock(&mdev->dev_mutex);
spin_lock_irqsave(&mdev->slock, flags);

/* Enable motor GPIO outputs before movement */
motor_power_on(mdev);

calc_slow_mode(mdev, x1);

mdev->counter = 0;
Expand Down Expand Up @@ -642,12 +647,12 @@ static long motor_ops_cruise(struct motor_device *mdev)

motor_ops_goback(mdev);

/* Enable motor GPIO outputs before cruise */
motor_power_on(mdev);

mutex_lock(&mdev->dev_mutex);
spin_lock_irqsave(&mdev->slock, flags);

/* Enable motor GPIO outputs before cruise */
motor_power_on(mdev);

mdev->dev_state = MOTOR_OPS_CRUISE;
motors[PAN_MOTOR].state = MOTOR_OPS_CRUISE;
motors[TILT_MOTOR].state = MOTOR_OPS_CRUISE;
Expand Down Expand Up @@ -724,12 +729,12 @@ static long motor_ops_reset(struct motor_device *mdev, struct motor_reset_data *
mutex_unlock(&mdev->dev_mutex);
} else {
/* driver calculate max steps. */
/* Enable motor GPIO outputs before reset/homing */
motor_power_on(mdev);

mutex_lock(&mdev->dev_mutex);
spin_lock_irqsave(&mdev->slock, flags);

/* Enable motor GPIO outputs before reset/homing */
motor_power_on(mdev);

for (index = 0; index < NUMBER_OF_MOTORS; index++) {
struct motor_driver *drv = &mdev->motors[index];
int half = drv->max_steps > 0 ? drv->max_steps / 2 : 0;
Expand Down