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USB: remove phidget drivers from kernel tree.
These devices are better controlled with the LGPL userspace library found at: http://www.phidgets.com/downloads.php?os_id=3 and full documentation at: http://www.phidgets.com/documentation/web/cdoc/index.html Cc: Chester Fitchett <fitchett@phidgets.com> Acked-by: Sean Young <sean@mess.org> Signed-off-by: Greg Kroah-Hartman <gregkh@suse.de>
This commit is contained in:
Greg Kroah-Hartman
@@ -135,45 +135,6 @@ config USB_CYTHERM
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To compile this driver as a module, choose M here: the
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module will be called cytherm.
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config USB_PHIDGET
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tristate "USB Phidgets drivers"
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depends on USB
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help
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Say Y here to enable the various drivers for devices from
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Phidgets inc.
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config USB_PHIDGETKIT
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tristate "USB PhidgetInterfaceKit support"
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depends on USB_PHIDGET
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help
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Say Y here if you want to connect a PhidgetInterfaceKit USB device
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from Phidgets Inc.
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To compile this driver as a module, choose M here: the
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module will be called phidgetkit.
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config USB_PHIDGETMOTORCONTROL
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tristate "USB PhidgetMotorControl support"
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depends on USB_PHIDGET
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help
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Say Y here if you want to connect a PhidgetMotorControl USB device
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from Phidgets Inc.
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To compile this driver as a module, choose M here: the
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module will be called phidgetmotorcontrol.
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config USB_PHIDGETSERVO
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tristate "USB PhidgetServo support"
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depends on USB_PHIDGET
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help
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Say Y here if you want to connect an 1 or 4 Motor PhidgetServo
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servo controller version 2.0 or 3.0.
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Phidgets Inc. has a web page at <http://www.phidgets.com/>.
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To compile this driver as a module, choose M here: the
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module will be called phidgetservo.
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config USB_IDMOUSE
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tristate "Siemens ID USB Mouse Fingerprint sensor support"
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depends on USB
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@@ -18,10 +18,6 @@ obj-$(CONFIG_USB_LCD) += usblcd.o
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obj-$(CONFIG_USB_LD) += ldusb.o
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obj-$(CONFIG_USB_LED) += usbled.o
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obj-$(CONFIG_USB_LEGOTOWER) += legousbtower.o
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obj-$(CONFIG_USB_PHIDGET) += phidget.o
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obj-$(CONFIG_USB_PHIDGETKIT) += phidgetkit.o
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obj-$(CONFIG_USB_PHIDGETMOTORCONTROL) += phidgetmotorcontrol.o
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obj-$(CONFIG_USB_PHIDGETSERVO) += phidgetservo.o
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obj-$(CONFIG_USB_RIO500) += rio500.o
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obj-$(CONFIG_USB_TEST) += usbtest.o
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obj-$(CONFIG_USB_TRANCEVIBRATOR) += trancevibrator.o
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@@ -1,43 +0,0 @@
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/*
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* USB Phidgets class
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*
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* Copyright (C) 2006 Sean Young <sean@mess.org>
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*/
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#include <linux/kernel.h>
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#include <linux/module.h>
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#include <linux/init.h>
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#include <linux/err.h>
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#include <linux/device.h>
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struct class *phidget_class;
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static int __init init_phidget(void)
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{
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phidget_class = class_create(THIS_MODULE, "phidget");
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if (IS_ERR(phidget_class))
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return PTR_ERR(phidget_class);
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return 0;
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}
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static void __exit cleanup_phidget(void)
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{
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class_destroy(phidget_class);
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}
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EXPORT_SYMBOL_GPL(phidget_class);
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module_init(init_phidget);
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module_exit(cleanup_phidget);
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MODULE_LICENSE("GPL");
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MODULE_AUTHOR("Sean Young <sean@mess.org>");
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MODULE_DESCRIPTION("Container module for phidget class");
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@@ -1,12 +0,0 @@
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/*
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* USB Phidgets class
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*
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* Copyright (C) 2006 Sean Young <sean@mess.org>
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*/
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extern struct class *phidget_class;
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File diff suppressed because it is too large
Load Diff
@@ -1,465 +0,0 @@
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/*
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* USB Phidget MotorControl driver
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*
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* Copyright (C) 2006 Sean Young <sean@mess.org>
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*/
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#include <linux/kernel.h>
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#include <linux/errno.h>
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#include <linux/init.h>
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#include <linux/module.h>
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#include <linux/usb.h>
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#include "phidget.h"
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#define DRIVER_AUTHOR "Sean Young <sean@mess.org>"
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#define DRIVER_DESC "USB PhidgetMotorControl Driver"
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#define USB_VENDOR_ID_GLAB 0x06c2
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#define USB_DEVICE_ID_MOTORCONTROL 0x0058
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#define URB_INT_SIZE 8
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static unsigned long device_no;
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struct motorcontrol {
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struct usb_device *udev;
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struct usb_interface *intf;
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struct device *dev;
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int dev_no;
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u8 inputs[4];
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s8 desired_speed[2];
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s8 speed[2];
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s16 _current[2];
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s8 acceleration[2];
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struct urb *irq;
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unsigned char *data;
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dma_addr_t data_dma;
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struct delayed_work do_notify;
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unsigned long input_events;
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unsigned long speed_events;
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unsigned long exceed_events;
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};
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static struct usb_device_id id_table[] = {
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{ USB_DEVICE(USB_VENDOR_ID_GLAB, USB_DEVICE_ID_MOTORCONTROL) },
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{}
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};
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MODULE_DEVICE_TABLE(usb, id_table);
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static int set_motor(struct motorcontrol *mc, int motor)
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{
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u8 *buffer;
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int speed, speed2, acceleration;
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int retval;
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buffer = kzalloc(8, GFP_KERNEL);
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if (!buffer) {
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dev_err(&mc->intf->dev, "%s - out of memory\n", __func__);
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return -ENOMEM;
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}
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acceleration = mc->acceleration[motor] * 10;
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/* -127 <= speed <= 127 */
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speed = (mc->desired_speed[motor] * 127) / 100;
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/* -0x7300 <= speed2 <= 0x7300 */
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speed2 = (mc->desired_speed[motor] * 230 * 128) / 100;
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buffer[0] = motor;
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buffer[1] = speed;
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buffer[2] = acceleration >> 8;
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buffer[3] = acceleration;
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buffer[4] = speed2 >> 8;
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buffer[5] = speed2;
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retval = usb_control_msg(mc->udev,
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usb_sndctrlpipe(mc->udev, 0),
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0x09, 0x21, 0x0200, 0x0000, buffer, 8, 2000);
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if (retval != 8)
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dev_err(&mc->intf->dev, "usb_control_msg returned %d\n",
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retval);
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kfree(buffer);
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return retval < 0 ? retval : 0;
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}
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static void motorcontrol_irq(struct urb *urb)
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{
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struct motorcontrol *mc = urb->context;
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unsigned char *buffer = mc->data;
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int i, level;
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int retval;
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int status = urb->status;;
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switch (status) {
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case 0: /* success */
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break;
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case -ECONNRESET: /* unlink */
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case -ENOENT:
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case -ESHUTDOWN:
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return;
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/* -EPIPE: should clear the halt */
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default: /* error */
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goto resubmit;
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}
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/* digital inputs */
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for (i=0; i<4; i++) {
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level = (buffer[0] >> i) & 1;
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if (mc->inputs[i] != level) {
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mc->inputs[i] = level;
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set_bit(i, &mc->input_events);
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}
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}
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/* motor speed */
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if (buffer[2] == 0) {
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for (i=0; i<2; i++) {
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level = ((s8)buffer[4+i]) * 100 / 127;
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if (mc->speed[i] != level) {
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mc->speed[i] = level;
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set_bit(i, &mc->speed_events);
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}
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}
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} else {
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int index = buffer[3] & 1;
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level = ((s8)buffer[4] << 8) | buffer[5];
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level = level * 100 / 29440;
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if (mc->speed[index] != level) {
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mc->speed[index] = level;
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set_bit(index, &mc->speed_events);
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}
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level = ((s8)buffer[6] << 8) | buffer[7];
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mc->_current[index] = level * 100 / 1572;
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}
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if (buffer[1] & 1)
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set_bit(0, &mc->exceed_events);
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if (buffer[1] & 2)
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set_bit(1, &mc->exceed_events);
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if (mc->input_events || mc->exceed_events || mc->speed_events)
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schedule_delayed_work(&mc->do_notify, 0);
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resubmit:
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retval = usb_submit_urb(urb, GFP_ATOMIC);
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if (retval)
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dev_err(&mc->intf->dev,
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"can't resubmit intr, %s-%s/motorcontrol0, retval %d\n",
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mc->udev->bus->bus_name,
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mc->udev->devpath, retval);
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}
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static void do_notify(struct work_struct *work)
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{
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struct motorcontrol *mc =
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container_of(work, struct motorcontrol, do_notify.work);
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int i;
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char sysfs_file[8];
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for (i=0; i<4; i++) {
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if (test_and_clear_bit(i, &mc->input_events)) {
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sprintf(sysfs_file, "input%d", i);
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sysfs_notify(&mc->dev->kobj, NULL, sysfs_file);
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}
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}
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for (i=0; i<2; i++) {
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if (test_and_clear_bit(i, &mc->speed_events)) {
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sprintf(sysfs_file, "speed%d", i);
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sysfs_notify(&mc->dev->kobj, NULL, sysfs_file);
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}
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}
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for (i=0; i<2; i++) {
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if (test_and_clear_bit(i, &mc->exceed_events))
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dev_warn(&mc->intf->dev,
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"motor #%d exceeds 1.5 Amp current limit\n", i);
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}
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}
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#define show_set_speed(value) \
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static ssize_t set_speed##value(struct device *dev, \
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struct device_attribute *attr, \
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const char *buf, size_t count) \
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{ \
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struct motorcontrol *mc = dev_get_drvdata(dev); \
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int speed; \
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int retval; \
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\
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if (sscanf(buf, "%d", &speed) < 1) \
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return -EINVAL; \
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\
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if (speed < -100 || speed > 100) \
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return -EINVAL; \
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\
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mc->desired_speed[value] = speed; \
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\
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retval = set_motor(mc, value); \
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\
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return retval ? retval : count; \
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} \
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\
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static ssize_t show_speed##value(struct device *dev, \
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struct device_attribute *attr, \
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char *buf) \
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||||
{ \
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struct motorcontrol *mc = dev_get_drvdata(dev); \
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||||
\
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||||
return sprintf(buf, "%d\n", mc->speed[value]); \
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}
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||||
|
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#define speed_attr(value) \
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__ATTR(speed##value, S_IWUGO | S_IRUGO, \
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show_speed##value, set_speed##value)
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|
||||
show_set_speed(0);
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show_set_speed(1);
|
||||
|
||||
#define show_set_acceleration(value) \
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static ssize_t set_acceleration##value(struct device *dev, \
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||||
struct device_attribute *attr, \
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||||
const char *buf, size_t count) \
|
||||
{ \
|
||||
struct motorcontrol *mc = dev_get_drvdata(dev); \
|
||||
int acceleration; \
|
||||
int retval; \
|
||||
\
|
||||
if (sscanf(buf, "%d", &acceleration) < 1) \
|
||||
return -EINVAL; \
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||||
\
|
||||
if (acceleration < 0 || acceleration > 100) \
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||||
return -EINVAL; \
|
||||
\
|
||||
mc->acceleration[value] = acceleration; \
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||||
\
|
||||
retval = set_motor(mc, value); \
|
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\
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return retval ? retval : count; \
|
||||
} \
|
||||
\
|
||||
static ssize_t show_acceleration##value(struct device *dev, \
|
||||
struct device_attribute *attr, \
|
||||
char *buf) \
|
||||
{ \
|
||||
struct motorcontrol *mc = dev_get_drvdata(dev); \
|
||||
\
|
||||
return sprintf(buf, "%d\n", mc->acceleration[value]); \
|
||||
}
|
||||
|
||||
#define acceleration_attr(value) \
|
||||
__ATTR(acceleration##value, S_IWUGO | S_IRUGO, \
|
||||
show_acceleration##value, set_acceleration##value)
|
||||
|
||||
show_set_acceleration(0);
|
||||
show_set_acceleration(1);
|
||||
|
||||
#define show_current(value) \
|
||||
static ssize_t show_current##value(struct device *dev, \
|
||||
struct device_attribute *attr, \
|
||||
char *buf) \
|
||||
{ \
|
||||
struct motorcontrol *mc = dev_get_drvdata(dev); \
|
||||
\
|
||||
return sprintf(buf, "%dmA\n", (int)mc->_current[value]); \
|
||||
}
|
||||
|
||||
#define current_attr(value) \
|
||||
__ATTR(current##value, S_IRUGO, show_current##value, NULL)
|
||||
|
||||
show_current(0);
|
||||
show_current(1);
|
||||
|
||||
#define show_input(value) \
|
||||
static ssize_t show_input##value(struct device *dev, \
|
||||
struct device_attribute *attr, \
|
||||
char *buf) \
|
||||
{ \
|
||||
struct motorcontrol *mc = dev_get_drvdata(dev); \
|
||||
\
|
||||
return sprintf(buf, "%d\n", (int)mc->inputs[value]); \
|
||||
}
|
||||
|
||||
#define input_attr(value) \
|
||||
__ATTR(input##value, S_IRUGO, show_input##value, NULL)
|
||||
|
||||
show_input(0);
|
||||
show_input(1);
|
||||
show_input(2);
|
||||
show_input(3);
|
||||
|
||||
static struct device_attribute dev_attrs[] = {
|
||||
input_attr(0),
|
||||
input_attr(1),
|
||||
input_attr(2),
|
||||
input_attr(3),
|
||||
speed_attr(0),
|
||||
speed_attr(1),
|
||||
acceleration_attr(0),
|
||||
acceleration_attr(1),
|
||||
current_attr(0),
|
||||
current_attr(1)
|
||||
};
|
||||
|
||||
static int motorcontrol_probe(struct usb_interface *intf, const struct usb_device_id *id)
|
||||
{
|
||||
struct usb_device *dev = interface_to_usbdev(intf);
|
||||
struct usb_host_interface *interface;
|
||||
struct usb_endpoint_descriptor *endpoint;
|
||||
struct motorcontrol *mc;
|
||||
int pipe, maxp, rc = -ENOMEM;
|
||||
int bit, value, i;
|
||||
|
||||
interface = intf->cur_altsetting;
|
||||
if (interface->desc.bNumEndpoints != 1)
|
||||
return -ENODEV;
|
||||
|
||||
endpoint = &interface->endpoint[0].desc;
|
||||
if (!usb_endpoint_dir_in(endpoint))
|
||||
return -ENODEV;
|
||||
|
||||
/*
|
||||
* bmAttributes
|
||||
*/
|
||||
pipe = usb_rcvintpipe(dev, endpoint->bEndpointAddress);
|
||||
maxp = usb_maxpacket(dev, pipe, usb_pipeout(pipe));
|
||||
|
||||
mc = kzalloc(sizeof(*mc), GFP_KERNEL);
|
||||
if (!mc)
|
||||
goto out;
|
||||
|
||||
mc->dev_no = -1;
|
||||
mc->data = usb_buffer_alloc(dev, URB_INT_SIZE, GFP_ATOMIC, &mc->data_dma);
|
||||
if (!mc->data)
|
||||
goto out;
|
||||
|
||||
mc->irq = usb_alloc_urb(0, GFP_KERNEL);
|
||||
if (!mc->irq)
|
||||
goto out;
|
||||
|
||||
mc->udev = usb_get_dev(dev);
|
||||
mc->intf = intf;
|
||||
mc->acceleration[0] = mc->acceleration[1] = 10;
|
||||
INIT_DELAYED_WORK(&mc->do_notify, do_notify);
|
||||
usb_fill_int_urb(mc->irq, mc->udev, pipe, mc->data,
|
||||
maxp > URB_INT_SIZE ? URB_INT_SIZE : maxp,
|
||||
motorcontrol_irq, mc, endpoint->bInterval);
|
||||
mc->irq->transfer_dma = mc->data_dma;
|
||||
mc->irq->transfer_flags |= URB_NO_TRANSFER_DMA_MAP;
|
||||
|
||||
usb_set_intfdata(intf, mc);
|
||||
|
||||
do {
|
||||
bit = find_first_zero_bit(&device_no, sizeof(device_no));
|
||||
value = test_and_set_bit(bit, &device_no);
|
||||
} while(value);
|
||||
mc->dev_no = bit;
|
||||
|
||||
mc->dev = device_create(phidget_class, &mc->udev->dev, MKDEV(0, 0), mc,
|
||||
"motorcontrol%d", mc->dev_no);
|
||||
if (IS_ERR(mc->dev)) {
|
||||
rc = PTR_ERR(mc->dev);
|
||||
mc->dev = NULL;
|
||||
goto out;
|
||||
}
|
||||
|
||||
if (usb_submit_urb(mc->irq, GFP_KERNEL)) {
|
||||
rc = -EIO;
|
||||
goto out;
|
||||
}
|
||||
|
||||
for (i=0; i<ARRAY_SIZE(dev_attrs); i++) {
|
||||
rc = device_create_file(mc->dev, &dev_attrs[i]);
|
||||
if (rc)
|
||||
goto out2;
|
||||
}
|
||||
|
||||
dev_info(&intf->dev, "USB PhidgetMotorControl attached\n");
|
||||
|
||||
return 0;
|
||||
out2:
|
||||
while (i-- > 0)
|
||||
device_remove_file(mc->dev, &dev_attrs[i]);
|
||||
out:
|
||||
if (mc) {
|
||||
usb_free_urb(mc->irq);
|
||||
if (mc->data)
|
||||
usb_buffer_free(dev, URB_INT_SIZE, mc->data, mc->data_dma);
|
||||
if (mc->dev)
|
||||
device_unregister(mc->dev);
|
||||
if (mc->dev_no >= 0)
|
||||
clear_bit(mc->dev_no, &device_no);
|
||||
|
||||
kfree(mc);
|
||||
}
|
||||
|
||||
return rc;
|
||||
}
|
||||
|
||||
static void motorcontrol_disconnect(struct usb_interface *interface)
|
||||
{
|
||||
struct motorcontrol *mc;
|
||||
int i;
|
||||
|
||||
mc = usb_get_intfdata(interface);
|
||||
usb_set_intfdata(interface, NULL);
|
||||
if (!mc)
|
||||
return;
|
||||
|
||||
usb_kill_urb(mc->irq);
|
||||
usb_free_urb(mc->irq);
|
||||
usb_buffer_free(mc->udev, URB_INT_SIZE, mc->data, mc->data_dma);
|
||||
|
||||
cancel_delayed_work(&mc->do_notify);
|
||||
|
||||
for (i=0; i<ARRAY_SIZE(dev_attrs); i++)
|
||||
device_remove_file(mc->dev, &dev_attrs[i]);
|
||||
|
||||
device_unregister(mc->dev);
|
||||
|
||||
usb_put_dev(mc->udev);
|
||||
clear_bit(mc->dev_no, &device_no);
|
||||
kfree(mc);
|
||||
|
||||
dev_info(&interface->dev, "USB PhidgetMotorControl detached\n");
|
||||
}
|
||||
|
||||
static struct usb_driver motorcontrol_driver = {
|
||||
.name = "phidgetmotorcontrol",
|
||||
.probe = motorcontrol_probe,
|
||||
.disconnect = motorcontrol_disconnect,
|
||||
.id_table = id_table
|
||||
};
|
||||
|
||||
static int __init motorcontrol_init(void)
|
||||
{
|
||||
int retval = 0;
|
||||
|
||||
retval = usb_register(&motorcontrol_driver);
|
||||
if (retval)
|
||||
err("usb_register failed. Error number %d", retval);
|
||||
|
||||
return retval;
|
||||
}
|
||||
|
||||
static void __exit motorcontrol_exit(void)
|
||||
{
|
||||
usb_deregister(&motorcontrol_driver);
|
||||
}
|
||||
|
||||
module_init(motorcontrol_init);
|
||||
module_exit(motorcontrol_exit);
|
||||
|
||||
MODULE_AUTHOR(DRIVER_AUTHOR);
|
||||
MODULE_DESCRIPTION(DRIVER_DESC);
|
||||
MODULE_LICENSE("GPL");
|
||||
@@ -1,375 +0,0 @@
|
||||
/*
|
||||
* USB PhidgetServo driver 1.0
|
||||
*
|
||||
* Copyright (C) 2004, 2006 Sean Young <sean@mess.org>
|
||||
*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This is a driver for the USB PhidgetServo version 2.0 and 3.0 servo
|
||||
* controllers available at: http://www.phidgets.com/
|
||||
*
|
||||
* Note that the driver takes input as: degrees.minutes
|
||||
*
|
||||
* CAUTION: Generally you should use 0 < degrees < 180 as anything else
|
||||
* is probably beyond the range of your servo and may damage it.
|
||||
*/
|
||||
|
||||
#include <linux/kernel.h>
|
||||
#include <linux/errno.h>
|
||||
#include <linux/init.h>
|
||||
#include <linux/slab.h>
|
||||
#include <linux/module.h>
|
||||
#include <linux/usb.h>
|
||||
|
||||
#include "phidget.h"
|
||||
|
||||
#define DRIVER_AUTHOR "Sean Young <sean@mess.org>"
|
||||
#define DRIVER_DESC "USB PhidgetServo Driver"
|
||||
|
||||
#define VENDOR_ID_GLAB 0x06c2
|
||||
#define DEVICE_ID_GLAB_PHIDGETSERVO_QUAD 0x0038
|
||||
#define DEVICE_ID_GLAB_PHIDGETSERVO_UNI 0x0039
|
||||
|
||||
#define VENDOR_ID_WISEGROUP 0x0925
|
||||
#define VENDOR_ID_WISEGROUP_PHIDGETSERVO_QUAD 0x8101
|
||||
#define VENDOR_ID_WISEGROUP_PHIDGETSERVO_UNI 0x8104
|
||||
|
||||
#define SERVO_VERSION_30 0x01
|
||||
#define SERVO_COUNT_QUAD 0x02
|
||||
|
||||
static struct usb_device_id id_table[] = {
|
||||
{
|
||||
USB_DEVICE(VENDOR_ID_GLAB, DEVICE_ID_GLAB_PHIDGETSERVO_QUAD),
|
||||
.driver_info = SERVO_VERSION_30 | SERVO_COUNT_QUAD
|
||||
},
|
||||
{
|
||||
USB_DEVICE(VENDOR_ID_GLAB, DEVICE_ID_GLAB_PHIDGETSERVO_UNI),
|
||||
.driver_info = SERVO_VERSION_30
|
||||
},
|
||||
{
|
||||
USB_DEVICE(VENDOR_ID_WISEGROUP,
|
||||
VENDOR_ID_WISEGROUP_PHIDGETSERVO_QUAD),
|
||||
.driver_info = SERVO_COUNT_QUAD
|
||||
},
|
||||
{
|
||||
USB_DEVICE(VENDOR_ID_WISEGROUP,
|
||||
VENDOR_ID_WISEGROUP_PHIDGETSERVO_UNI),
|
||||
.driver_info = 0
|
||||
},
|
||||
{}
|
||||
};
|
||||
|
||||
MODULE_DEVICE_TABLE(usb, id_table);
|
||||
|
||||
static int unsigned long device_no;
|
||||
|
||||
struct phidget_servo {
|
||||
struct usb_device *udev;
|
||||
struct device *dev;
|
||||
int dev_no;
|
||||
ulong type;
|
||||
int pulse[4];
|
||||
int degrees[4];
|
||||
int minutes[4];
|
||||
};
|
||||
|
||||
static int
|
||||
change_position_v30(struct phidget_servo *servo, int servo_no, int degrees,
|
||||
int minutes)
|
||||
{
|
||||
int retval;
|
||||
unsigned char *buffer;
|
||||
|
||||
if (degrees < -23 || degrees > 362)
|
||||
return -EINVAL;
|
||||
|
||||
buffer = kmalloc(6, GFP_KERNEL);
|
||||
if (!buffer) {
|
||||
dev_err(&servo->udev->dev, "%s - out of memory\n",
|
||||
__func__);
|
||||
return -ENOMEM;
|
||||
}
|
||||
|
||||
/*
|
||||
* pulse = 0 - 4095
|
||||
* angle = 0 - 180 degrees
|
||||
*
|
||||
* pulse = angle * 10.6 + 243.8
|
||||
*/
|
||||
servo->pulse[servo_no] = ((degrees*60 + minutes)*106 + 2438*60)/600;
|
||||
servo->degrees[servo_no]= degrees;
|
||||
servo->minutes[servo_no]= minutes;
|
||||
|
||||
/*
|
||||
* The PhidgetServo v3.0 is controlled by sending 6 bytes,
|
||||
* 4 * 12 bits for each servo.
|
||||
*
|
||||
* low = lower 8 bits pulse
|
||||
* high = higher 4 bits pulse
|
||||
*
|
||||
* offset bits
|
||||
* +---+-----------------+
|
||||
* | 0 | low 0 |
|
||||
* +---+--------+--------+
|
||||
* | 1 | high 1 | high 0 |
|
||||
* +---+--------+--------+
|
||||
* | 2 | low 1 |
|
||||
* +---+-----------------+
|
||||
* | 3 | low 2 |
|
||||
* +---+--------+--------+
|
||||
* | 4 | high 3 | high 2 |
|
||||
* +---+--------+--------+
|
||||
* | 5 | low 3 |
|
||||
* +---+-----------------+
|
||||
*/
|
||||
|
||||
buffer[0] = servo->pulse[0] & 0xff;
|
||||
buffer[1] = (servo->pulse[0] >> 8 & 0x0f)
|
||||
| (servo->pulse[1] >> 4 & 0xf0);
|
||||
buffer[2] = servo->pulse[1] & 0xff;
|
||||
buffer[3] = servo->pulse[2] & 0xff;
|
||||
buffer[4] = (servo->pulse[2] >> 8 & 0x0f)
|
||||
| (servo->pulse[3] >> 4 & 0xf0);
|
||||
buffer[5] = servo->pulse[3] & 0xff;
|
||||
|
||||
dev_dbg(&servo->udev->dev,
|
||||
"data: %02x %02x %02x %02x %02x %02x\n",
|
||||
buffer[0], buffer[1], buffer[2],
|
||||
buffer[3], buffer[4], buffer[5]);
|
||||
|
||||
retval = usb_control_msg(servo->udev,
|
||||
usb_sndctrlpipe(servo->udev, 0),
|
||||
0x09, 0x21, 0x0200, 0x0000, buffer, 6, 2000);
|
||||
|
||||
kfree(buffer);
|
||||
|
||||
return retval;
|
||||
}
|
||||
|
||||
static int
|
||||
change_position_v20(struct phidget_servo *servo, int servo_no, int degrees,
|
||||
int minutes)
|
||||
{
|
||||
int retval;
|
||||
unsigned char *buffer;
|
||||
|
||||
if (degrees < -23 || degrees > 278)
|
||||
return -EINVAL;
|
||||
|
||||
buffer = kmalloc(2, GFP_KERNEL);
|
||||
if (!buffer) {
|
||||
dev_err(&servo->udev->dev, "%s - out of memory\n",
|
||||
__func__);
|
||||
return -ENOMEM;
|
||||
}
|
||||
|
||||
/*
|
||||
* angle = 0 - 180 degrees
|
||||
* pulse = angle + 23
|
||||
*/
|
||||
servo->pulse[servo_no]= degrees + 23;
|
||||
servo->degrees[servo_no]= degrees;
|
||||
servo->minutes[servo_no]= 0;
|
||||
|
||||
/*
|
||||
* The PhidgetServo v2.0 is controlled by sending two bytes. The
|
||||
* first byte is the servo number xor'ed with 2:
|
||||
*
|
||||
* servo 0 = 2
|
||||
* servo 1 = 3
|
||||
* servo 2 = 0
|
||||
* servo 3 = 1
|
||||
*
|
||||
* The second byte is the position.
|
||||
*/
|
||||
|
||||
buffer[0] = servo_no ^ 2;
|
||||
buffer[1] = servo->pulse[servo_no];
|
||||
|
||||
dev_dbg(&servo->udev->dev, "data: %02x %02x\n", buffer[0], buffer[1]);
|
||||
|
||||
retval = usb_control_msg(servo->udev,
|
||||
usb_sndctrlpipe(servo->udev, 0),
|
||||
0x09, 0x21, 0x0200, 0x0000, buffer, 2, 2000);
|
||||
|
||||
kfree(buffer);
|
||||
|
||||
return retval;
|
||||
}
|
||||
|
||||
#define show_set(value) \
|
||||
static ssize_t set_servo##value (struct device *dev, \
|
||||
struct device_attribute *attr, \
|
||||
const char *buf, size_t count) \
|
||||
{ \
|
||||
int degrees, minutes, retval; \
|
||||
struct phidget_servo *servo = dev_get_drvdata(dev); \
|
||||
\
|
||||
minutes = 0; \
|
||||
/* must at least convert degrees */ \
|
||||
if (sscanf(buf, "%d.%d", °rees, &minutes) < 1) { \
|
||||
return -EINVAL; \
|
||||
} \
|
||||
\
|
||||
if (minutes < 0 || minutes > 59) \
|
||||
return -EINVAL; \
|
||||
\
|
||||
if (servo->type & SERVO_VERSION_30) \
|
||||
retval = change_position_v30(servo, value, degrees, \
|
||||
minutes); \
|
||||
else \
|
||||
retval = change_position_v20(servo, value, degrees, \
|
||||
minutes); \
|
||||
\
|
||||
return retval < 0 ? retval : count; \
|
||||
} \
|
||||
\
|
||||
static ssize_t show_servo##value (struct device *dev, \
|
||||
struct device_attribute *attr, \
|
||||
char *buf) \
|
||||
{ \
|
||||
struct phidget_servo *servo = dev_get_drvdata(dev); \
|
||||
\
|
||||
return sprintf(buf, "%d.%02d\n", servo->degrees[value], \
|
||||
servo->minutes[value]); \
|
||||
}
|
||||
|
||||
#define servo_attr(value) \
|
||||
__ATTR(servo##value, S_IWUGO | S_IRUGO, \
|
||||
show_servo##value, set_servo##value)
|
||||
show_set(0);
|
||||
show_set(1);
|
||||
show_set(2);
|
||||
show_set(3);
|
||||
|
||||
static struct device_attribute dev_attrs[] = {
|
||||
servo_attr(0), servo_attr(1), servo_attr(2), servo_attr(3)
|
||||
};
|
||||
|
||||
static int
|
||||
servo_probe(struct usb_interface *interface, const struct usb_device_id *id)
|
||||
{
|
||||
struct usb_device *udev = interface_to_usbdev(interface);
|
||||
struct phidget_servo *dev;
|
||||
int bit, value, rc;
|
||||
int servo_count, i;
|
||||
|
||||
dev = kzalloc(sizeof (struct phidget_servo), GFP_KERNEL);
|
||||
if (dev == NULL) {
|
||||
dev_err(&interface->dev, "%s - out of memory\n", __func__);
|
||||
rc = -ENOMEM;
|
||||
goto out;
|
||||
}
|
||||
|
||||
dev->udev = usb_get_dev(udev);
|
||||
dev->type = id->driver_info;
|
||||
dev->dev_no = -1;
|
||||
usb_set_intfdata(interface, dev);
|
||||
|
||||
do {
|
||||
bit = find_first_zero_bit(&device_no, sizeof(device_no));
|
||||
value = test_and_set_bit(bit, &device_no);
|
||||
} while (value);
|
||||
dev->dev_no = bit;
|
||||
|
||||
dev->dev = device_create(phidget_class, &dev->udev->dev, MKDEV(0, 0),
|
||||
dev, "servo%d", dev->dev_no);
|
||||
if (IS_ERR(dev->dev)) {
|
||||
rc = PTR_ERR(dev->dev);
|
||||
dev->dev = NULL;
|
||||
goto out;
|
||||
}
|
||||
|
||||
servo_count = dev->type & SERVO_COUNT_QUAD ? 4 : 1;
|
||||
|
||||
for (i=0; i<servo_count; i++) {
|
||||
rc = device_create_file(dev->dev, &dev_attrs[i]);
|
||||
if (rc)
|
||||
goto out2;
|
||||
}
|
||||
|
||||
dev_info(&interface->dev, "USB %d-Motor PhidgetServo v%d.0 attached\n",
|
||||
servo_count, dev->type & SERVO_VERSION_30 ? 3 : 2);
|
||||
|
||||
if (!(dev->type & SERVO_VERSION_30))
|
||||
dev_info(&interface->dev,
|
||||
"WARNING: v2.0 not tested! Please report if it works.\n");
|
||||
|
||||
return 0;
|
||||
out2:
|
||||
while (i-- > 0)
|
||||
device_remove_file(dev->dev, &dev_attrs[i]);
|
||||
out:
|
||||
if (dev) {
|
||||
if (dev->dev)
|
||||
device_unregister(dev->dev);
|
||||
if (dev->dev_no >= 0)
|
||||
clear_bit(dev->dev_no, &device_no);
|
||||
|
||||
kfree(dev);
|
||||
}
|
||||
|
||||
return rc;
|
||||
}
|
||||
|
||||
static void
|
||||
servo_disconnect(struct usb_interface *interface)
|
||||
{
|
||||
struct phidget_servo *dev;
|
||||
int servo_count, i;
|
||||
|
||||
dev = usb_get_intfdata(interface);
|
||||
usb_set_intfdata(interface, NULL);
|
||||
|
||||
if (!dev)
|
||||
return;
|
||||
|
||||
servo_count = dev->type & SERVO_COUNT_QUAD ? 4 : 1;
|
||||
|
||||
for (i=0; i<servo_count; i++)
|
||||
device_remove_file(dev->dev, &dev_attrs[i]);
|
||||
|
||||
device_unregister(dev->dev);
|
||||
usb_put_dev(dev->udev);
|
||||
|
||||
dev_info(&interface->dev, "USB %d-Motor PhidgetServo v%d.0 detached\n",
|
||||
servo_count, dev->type & SERVO_VERSION_30 ? 3 : 2);
|
||||
|
||||
clear_bit(dev->dev_no, &device_no);
|
||||
kfree(dev);
|
||||
}
|
||||
|
||||
static struct usb_driver servo_driver = {
|
||||
.name = "phidgetservo",
|
||||
.probe = servo_probe,
|
||||
.disconnect = servo_disconnect,
|
||||
.id_table = id_table
|
||||
};
|
||||
|
||||
static int __init
|
||||
phidget_servo_init(void)
|
||||
{
|
||||
int retval;
|
||||
|
||||
retval = usb_register(&servo_driver);
|
||||
if (retval)
|
||||
err("usb_register failed. Error number %d", retval);
|
||||
|
||||
return retval;
|
||||
}
|
||||
|
||||
static void __exit
|
||||
phidget_servo_exit(void)
|
||||
{
|
||||
usb_deregister(&servo_driver);
|
||||
}
|
||||
|
||||
module_init(phidget_servo_init);
|
||||
module_exit(phidget_servo_exit);
|
||||
|
||||
MODULE_AUTHOR(DRIVER_AUTHOR);
|
||||
MODULE_DESCRIPTION(DRIVER_DESC);
|
||||
MODULE_LICENSE("GPL");
|
||||
Reference in New Issue
Block a user