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author | Linus Torvalds <torvalds@ppc970.osdl.org> | 2005-04-16 15:20:36 -0700 |
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committer | Linus Torvalds <torvalds@ppc970.osdl.org> | 2005-04-16 15:20:36 -0700 |
commit | 1da177e4c3f41524e886b7f1b8a0c1fc7321cac2 (patch) | |
tree | 0bba044c4ce775e45a88a51686b5d9f90697ea9d /drivers/usb/misc/phidgetservo.c | |
download | kernel_samsung_smdk4412-1da177e4c3f41524e886b7f1b8a0c1fc7321cac2.zip kernel_samsung_smdk4412-1da177e4c3f41524e886b7f1b8a0c1fc7321cac2.tar.gz kernel_samsung_smdk4412-1da177e4c3f41524e886b7f1b8a0c1fc7321cac2.tar.bz2 |
Linux-2.6.12-rc2
Initial git repository build. I'm not bothering with the full history,
even though we have it. We can create a separate "historical" git
archive of that later if we want to, and in the meantime it's about
3.2GB when imported into git - space that would just make the early
git days unnecessarily complicated, when we don't have a lot of good
infrastructure for it.
Let it rip!
Diffstat (limited to 'drivers/usb/misc/phidgetservo.c')
-rw-r--r-- | drivers/usb/misc/phidgetservo.c | 342 |
1 files changed, 342 insertions, 0 deletions
diff --git a/drivers/usb/misc/phidgetservo.c b/drivers/usb/misc/phidgetservo.c new file mode 100644 index 0000000..4bd2915 --- /dev/null +++ b/drivers/usb/misc/phidgetservo.c @@ -0,0 +1,342 @@ +/* + * USB PhidgetServo driver 1.0 + * + * Copyright (C) 2004 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. + * + * Jun 16, 2004: Sean Young <sean@mess.org> + * - cleanups + * - was using memory after kfree() + * Aug 8, 2004: Sean Young <sean@mess.org> + * - set the highest angle as high as the hardware allows, there are + * some odd servos out there + * + */ + +#include <linux/config.h> +#ifdef CONFIG_USB_DEBUG +#define DEBUG 1 +#endif +#include <linux/kernel.h> +#include <linux/errno.h> +#include <linux/init.h> +#include <linux/slab.h> +#include <linux/module.h> +#include <linux/usb.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); + +struct phidget_servo { + struct usb_device *udev; + 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", + __FUNCTION__); + 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", + __FUNCTION__); + 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, \ + const char *buf, size_t count) \ +{ \ + int degrees, minutes, retval; \ + struct usb_interface *intf = to_usb_interface (dev); \ + struct phidget_servo *servo = usb_get_intfdata (intf); \ + \ + 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, char *buf) \ +{ \ + struct usb_interface *intf = to_usb_interface (dev); \ + struct phidget_servo *servo = usb_get_intfdata (intf); \ + \ + return sprintf (buf, "%d.%02d\n", servo->degrees[value], \ + servo->minutes[value]); \ +} \ +static DEVICE_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 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; + + dev = kmalloc(sizeof (struct phidget_servo), GFP_KERNEL); + if (dev == NULL) { + dev_err(&interface->dev, "%s - out of memory\n", __FUNCTION__); + return -ENOMEM; + } + memset(dev, 0x00, sizeof (*dev)); + + dev->udev = usb_get_dev(udev); + dev->type = id->driver_info; + usb_set_intfdata(interface, dev); + + device_create_file(&interface->dev, &dev_attr_servo0); + if (dev->type & SERVO_COUNT_QUAD) { + device_create_file(&interface->dev, &dev_attr_servo1); + device_create_file(&interface->dev, &dev_attr_servo2); + device_create_file(&interface->dev, &dev_attr_servo3); + } + + dev_info(&interface->dev, "USB %d-Motor PhidgetServo v%d.0 attached\n", + dev->type & SERVO_COUNT_QUAD ? 4 : 1, + 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; +} + +static void +servo_disconnect(struct usb_interface *interface) +{ + struct phidget_servo *dev; + + dev = usb_get_intfdata(interface); + usb_set_intfdata(interface, NULL); + + device_remove_file(&interface->dev, &dev_attr_servo0); + if (dev->type & SERVO_COUNT_QUAD) { + device_remove_file(&interface->dev, &dev_attr_servo1); + device_remove_file(&interface->dev, &dev_attr_servo2); + device_remove_file(&interface->dev, &dev_attr_servo3); + } + + usb_put_dev(dev->udev); + + dev_info(&interface->dev, "USB %d-Motor PhidgetServo v%d.0 detached\n", + dev->type & SERVO_COUNT_QUAD ? 4 : 1, + dev->type & SERVO_VERSION_30 ? 3 : 2); + + kfree(dev); +} + +static struct usb_driver servo_driver = { + .owner = THIS_MODULE, + .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"); |