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1da177e4 LT |
1 | /* |
2 | * USB PhidgetServo driver 1.0 | |
3 | * | |
da308e8d | 4 | * Copyright (C) 2004, 2006 Sean Young <sean@mess.org> |
1da177e4 LT |
5 | * |
6 | * This program is free software; you can redistribute it and/or modify | |
7 | * it under the terms of the GNU General Public License as published by | |
8 | * the Free Software Foundation; either version 2 of the License, or | |
9 | * (at your option) any later version. | |
10 | * | |
11 | * This is a driver for the USB PhidgetServo version 2.0 and 3.0 servo | |
12 | * controllers available at: http://www.phidgets.com/ | |
13 | * | |
14 | * Note that the driver takes input as: degrees.minutes | |
15 | * | |
16 | * CAUTION: Generally you should use 0 < degrees < 180 as anything else | |
17 | * is probably beyond the range of your servo and may damage it. | |
1da177e4 LT |
18 | */ |
19 | ||
1da177e4 LT |
20 | #include <linux/kernel.h> |
21 | #include <linux/errno.h> | |
22 | #include <linux/init.h> | |
23 | #include <linux/slab.h> | |
24 | #include <linux/module.h> | |
25 | #include <linux/usb.h> | |
26 | ||
912b24c3 SY |
27 | #include "phidget.h" |
28 | ||
1da177e4 LT |
29 | #define DRIVER_AUTHOR "Sean Young <sean@mess.org>" |
30 | #define DRIVER_DESC "USB PhidgetServo Driver" | |
31 | ||
32 | #define VENDOR_ID_GLAB 0x06c2 | |
33 | #define DEVICE_ID_GLAB_PHIDGETSERVO_QUAD 0x0038 | |
34 | #define DEVICE_ID_GLAB_PHIDGETSERVO_UNI 0x0039 | |
35 | ||
36 | #define VENDOR_ID_WISEGROUP 0x0925 | |
37 | #define VENDOR_ID_WISEGROUP_PHIDGETSERVO_QUAD 0x8101 | |
38 | #define VENDOR_ID_WISEGROUP_PHIDGETSERVO_UNI 0x8104 | |
39 | ||
40 | #define SERVO_VERSION_30 0x01 | |
41 | #define SERVO_COUNT_QUAD 0x02 | |
42 | ||
43 | static struct usb_device_id id_table[] = { | |
44 | { | |
45 | USB_DEVICE(VENDOR_ID_GLAB, DEVICE_ID_GLAB_PHIDGETSERVO_QUAD), | |
46 | .driver_info = SERVO_VERSION_30 | SERVO_COUNT_QUAD | |
47 | }, | |
48 | { | |
49 | USB_DEVICE(VENDOR_ID_GLAB, DEVICE_ID_GLAB_PHIDGETSERVO_UNI), | |
50 | .driver_info = SERVO_VERSION_30 | |
51 | }, | |
52 | { | |
53 | USB_DEVICE(VENDOR_ID_WISEGROUP, | |
54 | VENDOR_ID_WISEGROUP_PHIDGETSERVO_QUAD), | |
55 | .driver_info = SERVO_COUNT_QUAD | |
56 | }, | |
57 | { | |
58 | USB_DEVICE(VENDOR_ID_WISEGROUP, | |
59 | VENDOR_ID_WISEGROUP_PHIDGETSERVO_UNI), | |
60 | .driver_info = 0 | |
61 | }, | |
62 | {} | |
63 | }; | |
64 | ||
65 | MODULE_DEVICE_TABLE(usb, id_table); | |
66 | ||
912b24c3 SY |
67 | static int unsigned long device_no; |
68 | ||
1da177e4 LT |
69 | struct phidget_servo { |
70 | struct usb_device *udev; | |
912b24c3 SY |
71 | struct device *dev; |
72 | int dev_no; | |
1da177e4 LT |
73 | ulong type; |
74 | int pulse[4]; | |
75 | int degrees[4]; | |
76 | int minutes[4]; | |
77 | }; | |
78 | ||
79 | static int | |
80 | change_position_v30(struct phidget_servo *servo, int servo_no, int degrees, | |
81 | int minutes) | |
82 | { | |
83 | int retval; | |
84 | unsigned char *buffer; | |
85 | ||
86 | if (degrees < -23 || degrees > 362) | |
87 | return -EINVAL; | |
88 | ||
89 | buffer = kmalloc(6, GFP_KERNEL); | |
90 | if (!buffer) { | |
91 | dev_err(&servo->udev->dev, "%s - out of memory\n", | |
441b62c1 | 92 | __func__); |
1da177e4 LT |
93 | return -ENOMEM; |
94 | } | |
95 | ||
96 | /* | |
97 | * pulse = 0 - 4095 | |
98 | * angle = 0 - 180 degrees | |
99 | * | |
100 | * pulse = angle * 10.6 + 243.8 | |
101 | */ | |
102 | servo->pulse[servo_no] = ((degrees*60 + minutes)*106 + 2438*60)/600; | |
103 | servo->degrees[servo_no]= degrees; | |
104 | servo->minutes[servo_no]= minutes; | |
105 | ||
106 | /* | |
107 | * The PhidgetServo v3.0 is controlled by sending 6 bytes, | |
108 | * 4 * 12 bits for each servo. | |
109 | * | |
110 | * low = lower 8 bits pulse | |
111 | * high = higher 4 bits pulse | |
112 | * | |
113 | * offset bits | |
114 | * +---+-----------------+ | |
115 | * | 0 | low 0 | | |
116 | * +---+--------+--------+ | |
117 | * | 1 | high 1 | high 0 | | |
118 | * +---+--------+--------+ | |
119 | * | 2 | low 1 | | |
120 | * +---+-----------------+ | |
121 | * | 3 | low 2 | | |
122 | * +---+--------+--------+ | |
123 | * | 4 | high 3 | high 2 | | |
124 | * +---+--------+--------+ | |
125 | * | 5 | low 3 | | |
126 | * +---+-----------------+ | |
127 | */ | |
128 | ||
129 | buffer[0] = servo->pulse[0] & 0xff; | |
130 | buffer[1] = (servo->pulse[0] >> 8 & 0x0f) | |
131 | | (servo->pulse[1] >> 4 & 0xf0); | |
132 | buffer[2] = servo->pulse[1] & 0xff; | |
133 | buffer[3] = servo->pulse[2] & 0xff; | |
134 | buffer[4] = (servo->pulse[2] >> 8 & 0x0f) | |
135 | | (servo->pulse[3] >> 4 & 0xf0); | |
136 | buffer[5] = servo->pulse[3] & 0xff; | |
137 | ||
138 | dev_dbg(&servo->udev->dev, | |
139 | "data: %02x %02x %02x %02x %02x %02x\n", | |
140 | buffer[0], buffer[1], buffer[2], | |
141 | buffer[3], buffer[4], buffer[5]); | |
142 | ||
143 | retval = usb_control_msg(servo->udev, | |
144 | usb_sndctrlpipe(servo->udev, 0), | |
145 | 0x09, 0x21, 0x0200, 0x0000, buffer, 6, 2000); | |
146 | ||
147 | kfree(buffer); | |
148 | ||
149 | return retval; | |
150 | } | |
151 | ||
152 | static int | |
153 | change_position_v20(struct phidget_servo *servo, int servo_no, int degrees, | |
154 | int minutes) | |
155 | { | |
156 | int retval; | |
157 | unsigned char *buffer; | |
158 | ||
159 | if (degrees < -23 || degrees > 278) | |
160 | return -EINVAL; | |
161 | ||
162 | buffer = kmalloc(2, GFP_KERNEL); | |
163 | if (!buffer) { | |
164 | dev_err(&servo->udev->dev, "%s - out of memory\n", | |
441b62c1 | 165 | __func__); |
1da177e4 LT |
166 | return -ENOMEM; |
167 | } | |
168 | ||
169 | /* | |
170 | * angle = 0 - 180 degrees | |
171 | * pulse = angle + 23 | |
172 | */ | |
173 | servo->pulse[servo_no]= degrees + 23; | |
174 | servo->degrees[servo_no]= degrees; | |
175 | servo->minutes[servo_no]= 0; | |
176 | ||
177 | /* | |
178 | * The PhidgetServo v2.0 is controlled by sending two bytes. The | |
179 | * first byte is the servo number xor'ed with 2: | |
180 | * | |
181 | * servo 0 = 2 | |
182 | * servo 1 = 3 | |
183 | * servo 2 = 0 | |
184 | * servo 3 = 1 | |
185 | * | |
186 | * The second byte is the position. | |
187 | */ | |
188 | ||
189 | buffer[0] = servo_no ^ 2; | |
190 | buffer[1] = servo->pulse[servo_no]; | |
191 | ||
192 | dev_dbg(&servo->udev->dev, "data: %02x %02x\n", buffer[0], buffer[1]); | |
193 | ||
194 | retval = usb_control_msg(servo->udev, | |
195 | usb_sndctrlpipe(servo->udev, 0), | |
196 | 0x09, 0x21, 0x0200, 0x0000, buffer, 2, 2000); | |
197 | ||
198 | kfree(buffer); | |
199 | ||
200 | return retval; | |
201 | } | |
202 | ||
203 | #define show_set(value) \ | |
912b24c3 SY |
204 | static ssize_t set_servo##value (struct device *dev, \ |
205 | struct device_attribute *attr, \ | |
1da177e4 LT |
206 | const char *buf, size_t count) \ |
207 | { \ | |
208 | int degrees, minutes, retval; \ | |
912b24c3 | 209 | struct phidget_servo *servo = dev_get_drvdata(dev); \ |
1da177e4 LT |
210 | \ |
211 | minutes = 0; \ | |
212 | /* must at least convert degrees */ \ | |
912b24c3 | 213 | if (sscanf(buf, "%d.%d", °rees, &minutes) < 1) { \ |
1da177e4 LT |
214 | return -EINVAL; \ |
215 | } \ | |
216 | \ | |
217 | if (minutes < 0 || minutes > 59) \ | |
218 | return -EINVAL; \ | |
219 | \ | |
220 | if (servo->type & SERVO_VERSION_30) \ | |
912b24c3 | 221 | retval = change_position_v30(servo, value, degrees, \ |
1da177e4 LT |
222 | minutes); \ |
223 | else \ | |
912b24c3 | 224 | retval = change_position_v20(servo, value, degrees, \ |
1da177e4 LT |
225 | minutes); \ |
226 | \ | |
227 | return retval < 0 ? retval : count; \ | |
228 | } \ | |
229 | \ | |
912b24c3 SY |
230 | static ssize_t show_servo##value (struct device *dev, \ |
231 | struct device_attribute *attr, \ | |
232 | char *buf) \ | |
1da177e4 | 233 | { \ |
912b24c3 | 234 | struct phidget_servo *servo = dev_get_drvdata(dev); \ |
1da177e4 | 235 | \ |
912b24c3 | 236 | return sprintf(buf, "%d.%02d\n", servo->degrees[value], \ |
1da177e4 | 237 | servo->minutes[value]); \ |
da308e8d | 238 | } |
1da177e4 | 239 | |
da308e8d SY |
240 | #define servo_attr(value) \ |
241 | __ATTR(servo##value, S_IWUGO | S_IRUGO, \ | |
242 | show_servo##value, set_servo##value) | |
1da177e4 LT |
243 | show_set(0); |
244 | show_set(1); | |
245 | show_set(2); | |
246 | show_set(3); | |
247 | ||
da308e8d SY |
248 | static struct device_attribute dev_attrs[] = { |
249 | servo_attr(0), servo_attr(1), servo_attr(2), servo_attr(3) | |
250 | }; | |
251 | ||
1da177e4 LT |
252 | static int |
253 | servo_probe(struct usb_interface *interface, const struct usb_device_id *id) | |
254 | { | |
255 | struct usb_device *udev = interface_to_usbdev(interface); | |
256 | struct phidget_servo *dev; | |
da308e8d SY |
257 | int bit, value, rc; |
258 | int servo_count, i; | |
1da177e4 | 259 | |
d874a2ba | 260 | dev = kzalloc(sizeof (struct phidget_servo), GFP_KERNEL); |
1da177e4 | 261 | if (dev == NULL) { |
441b62c1 | 262 | dev_err(&interface->dev, "%s - out of memory\n", __func__); |
da308e8d SY |
263 | rc = -ENOMEM; |
264 | goto out; | |
1da177e4 | 265 | } |
1da177e4 LT |
266 | |
267 | dev->udev = usb_get_dev(udev); | |
268 | dev->type = id->driver_info; | |
da308e8d | 269 | dev->dev_no = -1; |
1da177e4 LT |
270 | usb_set_intfdata(interface, dev); |
271 | ||
912b24c3 SY |
272 | do { |
273 | bit = find_first_zero_bit(&device_no, sizeof(device_no)); | |
274 | value = test_and_set_bit(bit, &device_no); | |
da308e8d | 275 | } while (value); |
912b24c3 SY |
276 | dev->dev_no = bit; |
277 | ||
b0b090e5 GKH |
278 | dev->dev = device_create(phidget_class, &dev->udev->dev, MKDEV(0, 0), |
279 | dev, "servo%d", dev->dev_no); | |
912b24c3 | 280 | if (IS_ERR(dev->dev)) { |
da308e8d SY |
281 | rc = PTR_ERR(dev->dev); |
282 | dev->dev = NULL; | |
283 | goto out; | |
912b24c3 SY |
284 | } |
285 | ||
da308e8d SY |
286 | servo_count = dev->type & SERVO_COUNT_QUAD ? 4 : 1; |
287 | ||
288 | for (i=0; i<servo_count; i++) { | |
289 | rc = device_create_file(dev->dev, &dev_attrs[i]); | |
290 | if (rc) | |
291 | goto out2; | |
1da177e4 LT |
292 | } |
293 | ||
294 | dev_info(&interface->dev, "USB %d-Motor PhidgetServo v%d.0 attached\n", | |
da308e8d | 295 | servo_count, dev->type & SERVO_VERSION_30 ? 3 : 2); |
1da177e4 | 296 | |
912b24c3 | 297 | if (!(dev->type & SERVO_VERSION_30)) |
1da177e4 LT |
298 | dev_info(&interface->dev, |
299 | "WARNING: v2.0 not tested! Please report if it works.\n"); | |
300 | ||
301 | return 0; | |
da308e8d SY |
302 | out2: |
303 | while (i-- > 0) | |
304 | device_remove_file(dev->dev, &dev_attrs[i]); | |
305 | out: | |
306 | if (dev) { | |
307 | if (dev->dev) | |
308 | device_unregister(dev->dev); | |
309 | if (dev->dev_no >= 0) | |
310 | clear_bit(dev->dev_no, &device_no); | |
311 | ||
312 | kfree(dev); | |
313 | } | |
314 | ||
315 | return rc; | |
1da177e4 LT |
316 | } |
317 | ||
318 | static void | |
319 | servo_disconnect(struct usb_interface *interface) | |
320 | { | |
321 | struct phidget_servo *dev; | |
da308e8d | 322 | int servo_count, i; |
1da177e4 LT |
323 | |
324 | dev = usb_get_intfdata(interface); | |
325 | usb_set_intfdata(interface, NULL); | |
326 | ||
da308e8d SY |
327 | if (!dev) |
328 | return; | |
329 | ||
330 | servo_count = dev->type & SERVO_COUNT_QUAD ? 4 : 1; | |
331 | ||
332 | for (i=0; i<servo_count; i++) | |
333 | device_remove_file(dev->dev, &dev_attrs[i]); | |
1da177e4 | 334 | |
912b24c3 | 335 | device_unregister(dev->dev); |
1da177e4 LT |
336 | usb_put_dev(dev->udev); |
337 | ||
338 | dev_info(&interface->dev, "USB %d-Motor PhidgetServo v%d.0 detached\n", | |
da308e8d | 339 | servo_count, dev->type & SERVO_VERSION_30 ? 3 : 2); |
1da177e4 | 340 | |
912b24c3 | 341 | clear_bit(dev->dev_no, &device_no); |
1da177e4 LT |
342 | kfree(dev); |
343 | } | |
344 | ||
345 | static struct usb_driver servo_driver = { | |
1da177e4 LT |
346 | .name = "phidgetservo", |
347 | .probe = servo_probe, | |
348 | .disconnect = servo_disconnect, | |
349 | .id_table = id_table | |
350 | }; | |
351 | ||
352 | static int __init | |
353 | phidget_servo_init(void) | |
354 | { | |
355 | int retval; | |
356 | ||
357 | retval = usb_register(&servo_driver); | |
358 | if (retval) | |
359 | err("usb_register failed. Error number %d", retval); | |
360 | ||
361 | return retval; | |
362 | } | |
363 | ||
364 | static void __exit | |
365 | phidget_servo_exit(void) | |
366 | { | |
367 | usb_deregister(&servo_driver); | |
368 | } | |
369 | ||
370 | module_init(phidget_servo_init); | |
371 | module_exit(phidget_servo_exit); | |
372 | ||
373 | MODULE_AUTHOR(DRIVER_AUTHOR); | |
374 | MODULE_DESCRIPTION(DRIVER_DESC); | |
375 | MODULE_LICENSE("GPL"); |