601 lines
17 KiB
C
601 lines
17 KiB
C
/****************************************************************************
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* drivers/motor/motor.c
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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/* Upper-half, character driver for motor control */
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <assert.h>
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#include <errno.h>
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#include <debug.h>
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#include <nuttx/arch.h>
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#include <nuttx/fs/fs.h>
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#include <nuttx/kmalloc.h>
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#include <nuttx/semaphore.h>
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#include <nuttx/motor/motor.h>
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#include <nuttx/irq.h>
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/****************************************************************************
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* Private Types
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****************************************************************************/
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/* This structure describes the state of the upper half driver */
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struct motor_upperhalf_s
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{
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FAR struct motor_lowerhalf_s *lower; /* the handle of lower half driver */
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uint8_t ocount; /* The number of times the device has been opened */
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sem_t closesem; /* Locks out new opens while close is in progress */
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};
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/****************************************************************************
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* Private Function Prototypes
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****************************************************************************/
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static int motor_open(FAR struct file *filep);
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static int motor_close(FAR struct file *filep);
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static ssize_t motor_read(FAR struct file *filep, FAR char *buffer,
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size_t buflen);
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static ssize_t motor_write(FAR struct file *filep, FAR const char *buffer,
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size_t buflen);
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static int motor_ioctl(FAR struct file *filep, int cmd,
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unsigned long arg);
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/****************************************************************************
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* Private Data
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****************************************************************************/
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static const struct file_operations motor_fops =
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{
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motor_open, /* open */
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motor_close, /* close */
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motor_read, /* read */
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motor_write, /* write */
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NULL, /* seek */
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motor_ioctl, /* ioctl */
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NULL /* poll */
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#ifndef CONFIG_DISABLE_PSEUDOFS_OPERATIONS
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, NULL /* unlink */
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#endif
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};
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Name: motor_open
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*
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* Description:
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* This function is called whenever the motor device is opened.
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*
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****************************************************************************/
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static int motor_open(FAR struct file *filep)
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{
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FAR struct inode *inode = filep->f_inode;
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FAR struct motor_upperhalf_s *upper = inode->i_private;
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FAR struct motor_lowerhalf_s *lower = upper->lower;
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uint8_t tmp;
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int ret;
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/* If the port is the middle of closing, wait until the close is finished */
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ret = nxsem_wait(&upper->closesem);
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if (ret >= 0)
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{
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/* Increment the count of references to the device. If this the first
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* time that the driver has been opened for this device, then
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* initialize the device.
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*/
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tmp = upper->ocount + 1;
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if (tmp == 0)
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{
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/* More than 255 opens; uint8_t overflows to zero */
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ret = -EMFILE;
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}
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else
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{
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/* Check if this is the first time that the driver has been
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* opened.
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*/
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if (tmp == 1)
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{
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/* Yes.. perform one time hardware initialization. */
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ret = lower->ops->setup(lower);
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if (ret == OK)
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{
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/* Save the new open count on success */
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upper->ocount = tmp;
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}
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}
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}
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nxsem_post(&upper->closesem);
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}
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return OK;
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}
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/****************************************************************************
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* Name: motor_close
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*
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* Description:
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* This routine is called when the motor device is closed.
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*
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****************************************************************************/
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static int motor_close(FAR struct file *filep)
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{
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FAR struct inode *inode = filep->f_inode;
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FAR struct motor_upperhalf_s *upper = inode->i_private;
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FAR struct motor_lowerhalf_s *lower = upper->lower;
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int ret;
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ret = nxsem_wait(&upper->closesem);
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if (ret >= 0)
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{
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/* Decrement the references to the driver. If the reference count will
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* decrement to 0, then uninitialize the driver.
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*/
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if (upper->ocount > 1)
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{
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upper->ocount--;
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nxsem_post(&upper->closesem);
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}
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else
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{
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/* There are no more references to the port */
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upper->ocount = 0;
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/* Free the IRQ and disable the motor device */
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lower->ops->shutdown(lower); /* Disable the motor */
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nxsem_post(&upper->closesem);
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}
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}
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return ret;
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}
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/****************************************************************************
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* Name: motor_read
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****************************************************************************/
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static ssize_t motor_read(FAR struct file *filep, FAR char *buffer,
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size_t buflen)
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{
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return 1;
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}
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/****************************************************************************
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* Name: motor_write
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****************************************************************************/
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static ssize_t motor_write(FAR struct file *filep, FAR const char *buffer,
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size_t buflen)
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{
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return 1;
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}
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/****************************************************************************
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* Name: motor_ioctl
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****************************************************************************/
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static int motor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
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{
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FAR struct inode *inode = filep->f_inode;
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FAR struct motor_upperhalf_s *upper = inode->i_private;
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FAR struct motor_lowerhalf_s *lower = upper->lower;
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int ret;
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switch (cmd)
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{
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case MTRIOC_START:
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{
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/* Allow motor start only when some limits available
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* and structure is locked.
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*/
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if ((lower->limits.lock == false) ||
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(
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#ifdef CONFIG_MOTOR_UPPER_HAVE_POSITION
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lower->limits.position <= 0.0 &&
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#endif
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#ifdef CONFIG_MOTOR_UPPER_HAVE_SPEED
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lower->limits.speed <= 0.0 &&
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#endif
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#ifdef CONFIG_MOTOR_UPPER_HAVE_TORQUE
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lower->limits.torque <= 0.0 &&
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#endif
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#ifdef CONFIG_MOTOR_UPPER_HAVE_FORCE
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lower->limits.force <= 0.0 &&
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#endif
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#ifdef CONFIG_MOTOR_UPPER_HAVE_INPUT_VOLTAGE
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lower->limits.v_in <= 0.0 &&
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#endif
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#ifdef CONFIG_MOTOR_UPPER_HAVE_INPUT_CURRENT
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lower->limits.i_in <= 0.0 &&
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#endif
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#ifdef CONFIG_MOTOR_UPPER_HAVE_INPUT_POWER
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lower->limits.p_in <= 0.0 &&
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#endif
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1))
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{
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mtrerr("Motor limits data must be set"
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" and locked before motor start\n");
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ret = -EPERM;
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goto errout;
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}
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/* Check motor mode */
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if (lower->opmode == MOTOR_OPMODE_INIT)
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{
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mtrerr("Motor operation mode not specified\n");
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ret = -EPERM;
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goto errout;
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}
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/* REVISIT: do we need some parameters assertions here ? */
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/* Finally, call start from lower-half driver */
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ret = lower->ops->start(lower);
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if (ret != OK)
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{
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mtrerr("MTRIOC_START failed %d\n", ret);
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}
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break;
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}
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case MTRIOC_STOP:
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{
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/* Call stop from lower-half driver */
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ret = lower->ops->stop(lower);
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if (ret != OK)
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{
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mtrerr("MTRIOC_STOP failed %d\n", ret);
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}
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break;
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}
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case MTRIOC_SET_MODE:
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{
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uint8_t mode = ((uint8_t)arg);
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ret = lower->ops->mode_set(lower, mode);
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if (ret != OK)
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{
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mtrerr("MTRIOC_SET_MODE failed %d\n", ret);
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}
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break;
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}
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case MTRIOC_SET_LIMITS:
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{
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FAR struct motor_limits_s *limits =
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(FAR struct motor_limits_s *)((uintptr_t)arg);
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if (lower->limits.lock == true)
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{
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mtrerr("Motor limits locked!\n");
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ret = -EPERM;
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goto errout;
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}
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/* NOTE: this call must set the motor_limits_s structure */
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ret = lower->ops->limits_set(lower, limits);
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if (ret != OK)
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{
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mtrerr("MTRIOC_SET_LIMITS failed %d\n", ret);
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}
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break;
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}
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case MTRIOC_GET_STATE:
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{
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FAR struct motor_state_s *state =
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(FAR struct motor_state_s *)((uintptr_t)arg);
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ret = lower->ops->state_get(lower, state);
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if (ret != OK)
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{
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mtrerr("MTRIOC_GET_STATE failed %d\n", ret);
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}
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break;
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}
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case MTRIOC_SET_FAULT:
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{
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uint8_t fault = ((uint8_t)arg);
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ret = lower->ops->fault_set(lower, fault);
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if (ret != OK)
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{
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mtrerr("MTRIOC_SET_FAULT failed %d\n", ret);
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}
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break;
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}
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case MTRIOC_GET_FAULT:
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{
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FAR uint8_t *fault = ((FAR uint8_t *)arg);
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ret = lower->ops->fault_get(lower, fault);
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if (ret != OK)
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{
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mtrerr("MTRIOC_GET_FAULT failed %d\n", ret);
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}
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break;
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}
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case MTRIOC_CLEAR_FAULT:
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{
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uint8_t fault = ((uint8_t)arg);
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ret = lower->ops->fault_clear(lower, fault);
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if (ret != OK)
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{
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mtrerr("MTRIOC_CLEAR_FAULT failed %d\n", ret);
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}
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break;
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}
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case MTRIOC_SET_PARAMS:
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{
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FAR struct motor_params_s *params =
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(FAR struct motor_params_s *)((uintptr_t)arg);
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if (lower->param.lock == true)
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{
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mtrerr("Motor params locked!\n");
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ret = -EPERM;
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goto errout;
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}
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if ((lower->limits.lock == false) ||
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(
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#ifdef CONFIG_MOTOR_UPPER_HAVE_POSITION
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lower->limits.position <= 0.0 &&
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#endif
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#ifdef CONFIG_MOTOR_UPPER_HAVE_SPEED
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lower->limits.speed <= 0.0 &&
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#endif
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#ifdef CONFIG_MOTOR_UPPER_HAVE_TORQUE
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lower->limits.torque <= 0.0 &&
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#endif
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#ifdef CONFIG_MOTOR_UPPER_HAVE_FORCE
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lower->limits.force <= 0.0 &&
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#endif
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#ifdef CONFIG_MOTOR_UPPER_HAVE_INPUT_VOLTAGE
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lower->limits.v_in <= 0.0 &&
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#endif
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#ifdef CONFIG_MOTOR_UPPER_HAVE_INPUT_CURRENT
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lower->limits.i_in <= 0.0 &&
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#endif
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#ifdef CONFIG_MOTOR_UPPER_HAVE_INPUT_POWER
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lower->limits.p_in <= 0.0 &&
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#endif
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1))
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{
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mtrerr("Limits must be set prior to params!\n");
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ret = -EPERM;
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goto errout;
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}
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#ifdef CONFIG_MOTOR_UPPER_HAVE_DIRECTION
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/* Check direction configuration */
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if (params->direction != MOTOR_DIR_CCW &&
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params->direction != MOTOR_DIR_CW)
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{
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mtrerr("Invalid direction value %d\n",
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params->direction);
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ret = -EPERM;
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goto errout;
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}
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#endif
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#ifdef CONFIG_MOTOR_UPPER_HAVE_POSITION
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/* Check position configuration */
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if (params->position < 0.0 ||
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params->position > lower->limits.position)
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{
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mtrerr("params->position > limits.position: "
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"%.2f > %.2f\n",
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params->position, lower->limits.position);
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ret = -EPERM;
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goto errout;
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}
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#endif
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#ifdef CONFIG_MOTOR_UPPER_HAVE_SPEED
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/* Check speed configuration */
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if (lower->limits.speed > 0.0 &&
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params->speed > lower->limits.speed)
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{
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mtrerr("params->speed > limits.speed: %.2f > %.2f\n",
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params->speed, lower->limits.speed);
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ret = -EPERM;
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goto errout;
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}
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#endif
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#ifdef CONFIG_MOTOR_UPPER_HAVE_TORQUE
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/* Check torque configuration */
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if (lower->limits.torque > 0.0 &&
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params->torque > lower->limits.torque)
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{
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mtrerr("params->torque > limits.torque: %.2f > %.2f\n",
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params->torque, lower->limits.torque);
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ret = -EPERM;
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goto errout;
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}
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#endif
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#ifdef CONFIG_MOTOR_UPPER_HAVE_FORCE
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/* Check force configuration */
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if (lower->limits.force > 0.0 &&
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params->force > lower->limits.force)
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{
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mtrerr("params->force > limits.force: %.2f > %.2f\n",
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params->force, lower->limits.force);
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ret = -EPERM;
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goto errout;
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}
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#endif
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ret = lower->ops->params_set(lower, params);
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if (ret != OK)
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{
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mtrerr("MTRIOC_SET_PARAMS failed %d\n", ret);
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}
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break;
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}
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default:
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{
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mtrinfo("Forwarding unrecognized cmd: %d arg: %ld\n", cmd, arg);
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ret = lower->ops->ioctl(lower, cmd, arg);
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break;
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}
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}
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errout:
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return ret;
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}
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: motor_register
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*
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* Description:
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* This function binds an instance of a "lower half" motor driver with the
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* "upper half" motor device and registers that device so that can be used
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* by application code.
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*
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* We will register the chararter device with specified path.
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*
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* Input Parameters:
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* path - The user specifies path name.
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* lower - A pointer to an instance of lower half motor driver. This
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* instance is bound to the motor driver and must persists as long
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* as the driver persists.
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*
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* Returned Value:
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* OK if the driver was successfully register; A negated errno value is
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* returned on any failure.
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*
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****************************************************************************/
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int motor_register(FAR const char *path,
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FAR struct motor_lowerhalf_s *lower)
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{
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FAR struct motor_upperhalf_s *upper;
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int ret;
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DEBUGASSERT(path != NULL && lower != NULL);
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DEBUGASSERT(lower->ops != NULL);
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/* For safety reason, when some necessary low-level logic is not provided,
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* system should fail before low-level hardware initialization, so:
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* - all ops are checked here, before character driver registration
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* - all ops must be provided, even if not used
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*/
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DEBUGASSERT(lower->ops->setup != NULL);
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DEBUGASSERT(lower->ops->shutdown != NULL);
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DEBUGASSERT(lower->ops->stop != NULL);
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DEBUGASSERT(lower->ops->start != NULL);
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DEBUGASSERT(lower->ops->params_set != NULL);
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DEBUGASSERT(lower->ops->mode_set != NULL);
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DEBUGASSERT(lower->ops->limits_set != NULL);
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DEBUGASSERT(lower->ops->fault_set != NULL);
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DEBUGASSERT(lower->ops->state_get != NULL);
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DEBUGASSERT(lower->ops->fault_get != NULL);
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DEBUGASSERT(lower->ops->fault_clear != NULL);
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DEBUGASSERT(lower->ops->ioctl != NULL);
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/* Allocate the upper-half data structure */
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upper = kmm_zalloc(sizeof(struct motor_upperhalf_s));
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if (!upper)
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{
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mtrerr("ERROR: Allocation failed\n");
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return -ENOMEM;
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}
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|
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/* Initialize semaphores */
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nxsem_init(&upper->closesem, 0, 1);
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/* Connect motor driver with lower level interface */
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upper->lower = lower;
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|
|
/* Register the motor character driver */
|
|
|
|
ret = register_driver(path, &motor_fops, 0666, upper);
|
|
if (ret < 0)
|
|
{
|
|
nxsem_destroy(&upper->closesem);
|
|
kmm_free(upper);
|
|
}
|
|
|
|
return ret;
|
|
}
|