On 2/27/25 10:28 AM, David Jander wrote: > The Linux Motion Control subsystem (LMC) is a new driver subsystem for > peripheral devices that control mechanical motion in some form or another. > This could be different kinds of motors (stepper, DC, AC, SRM, BLDC...) > or even linear actuators. > The subsystem presents a unified UAPI for those devices, based on char > devices with ioctl's. > It can make use of regular gpio's to function as trigger inputs, like > end-stops, fixed position- or motion start triggers and also generate > events not only to user-space but also to the IIO subsystem in the form of > IIO triggers. > > Signed-off-by: David Jander <david@xxxxxxxxxxx> > --- > MAINTAINERS | 8 + > drivers/Kconfig | 2 + > drivers/Makefile | 2 + > drivers/motion/Kconfig | 19 + > drivers/motion/Makefile | 3 + > drivers/motion/motion-core.c | 823 ++++++++++++++++++++++++++++++++ > drivers/motion/motion-core.h | 172 +++++++ > drivers/motion/motion-helpers.c | 590 +++++++++++++++++++++++ > drivers/motion/motion-helpers.h | 23 + > include/uapi/linux/motion.h | 229 +++++++++ > 10 files changed, 1871 insertions(+) Ooof, this is really a lot for one patch. Makes it hard to review. 500 lines in a patch is much easier to digest. But before commenting on the details of the code I have some more high-level comments. As I mentioned in my reply to the cover letter, I've gone through the exercise of writing some motor control divers in the Linux kernel that have been used by 1000s of people that used them to build everything imaginable using LEGO robotics over the last 10+ years.
