aboutsummaryrefslogtreecommitdiffstats
path: root/drivers/usb/misc/phidgetmotorcontrol.c
blob: 5727e1ea2f91db1cd454545d16190ad32535779b (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
/*
 * USB Phidget MotorControl driver
 *
 * Copyright (C) 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.
 */

#include <linux/kernel.h>
#include <linux/errno.h>
#include <linux/init.h>
#include <linux/module.h>
#include <linux/usb.h>

#include "phidget.h"

#define DRIVER_AUTHOR "Sean Young <sean@mess.org>"
#define DRIVER_DESC "USB PhidgetMotorControl Driver"

#define USB_VENDOR_ID_GLAB		0x06c2
#define USB_DEVICE_ID_MOTORCONTROL	0x0058

#define URB_INT_SIZE			8

static unsigned long device_no;

struct motorcontrol {
	struct usb_device *udev;
	struct usb_interface *intf;
	struct device *dev;
	int dev_no;
	u8 inputs[4];
	s8 desired_speed[2];
	s8 speed[2];
	s16 _current[2];
	s8 acceleration[2];
	struct urb *irq;
	unsigned char *data;
	dma_addr_t data_dma;

	struct delayed_work do_notify;
	unsigned long input_events;
	unsigned long speed_events;
	unsigned long exceed_events;
};

static struct usb_device_id id_table[] = {
	{ USB_DEVICE(USB_VENDOR_ID_GLAB, USB_DEVICE_ID_MOTORCONTROL) },
	{}
};
MODULE_DEVICE_TABLE(usb, id_table);

static int set_motor(struct motorcontrol *mc, int motor)
{
	u8 *buffer;
	int speed, speed2, acceleration;
	int retval;

	buffer = kzalloc(8, GFP_KERNEL);
	if (!buffer) {
		dev_err(&mc->intf->dev, "%s - out of memory\n", __FUNCTION__);
		return -ENOMEM;
	}

	acceleration = mc->acceleration[motor] * 10;
	/* -127 <= speed <= 127 */
	speed = (mc->desired_speed[motor] * 127) / 100;
	/* -0x7300 <= speed2 <= 0x7300 */
	speed2 = (mc->desired_speed[motor] * 230 * 128) / 100;

	buffer[0] = motor;
	buffer[1] = speed;
	buffer[2] = acceleration >> 8;
	buffer[3] = acceleration;
	buffer[4] = speed2 >> 8;
	buffer[5] = speed2;

	retval = usb_control_msg(mc->udev,
			 usb_sndctrlpipe(mc->udev, 0),
			 0x09, 0x21, 0x0200, 0x0000, buffer, 8, 2000);

	if (retval != 8)
		dev_err(&mc->intf->dev, "usb_control_msg returned %d\n",
				retval);
	kfree(buffer);

	return retval < 0 ? retval : 0;
}

static void motorcontrol_irq(struct urb *urb)
{
	struct motorcontrol *mc = urb->context;
	unsigned char *buffer = mc->data;
	int i, level;
	int status;

	switch (urb->status) {
	case 0:			/* success */
		break;
	case -ECONNRESET:	/* unlink */
	case -ENOENT:
	case -ESHUTDOWN:
		return;
	/* -EPIPE:  should clear the halt */
	default:		/* error */
		goto resubmit;
	}

	/* digital inputs */
	for (i=0; i<4; i++) {
		level = (buffer[0] >> i) & 1;
		if (mc->inputs[i] != level) {
			mc->inputs[i] = level;
			set_bit(i, &mc->input_events);
		}
	}

	/* motor speed */
	if (buffer[2] == 0) {
		for (i=0; i<2; i++) {
		level = ((s8)buffer[4+i]) * 100 / 127;
			if (mc->speed[i] != level) {
				mc->speed[i] = level;
				set_bit(i, &mc->speed_events);
			}
		}
	} else {
		int index = buffer[3] & 1;

		level = ((s8)buffer[4] << 8) | buffer[5];
		level = level * 100 / 29440;
		if (mc->speed[index] != level) {
			mc->speed[index] = level;
			set_bit(index, &mc->speed_events);
		}

		level = ((s8)buffer[6] << 8) | buffer[7];
		mc->_current[index] = level * 100 / 1572;
	}

	if (buffer[1] & 1)
		set_bit(0, &mc->exceed_events);

	if (buffer[1] & 2)
		set_bit(1, &mc->exceed_events);

	if (mc->input_events || mc->exceed_events || mc->speed_events)
		schedule_delayed_work(&mc->do_notify, 0);

resubmit:
	status = usb_submit_urb(urb, GFP_ATOMIC);
	if (status)
		dev_err(&mc->intf->dev,
			"can't resubmit intr, %s-%s/motorcontrol0, status %d",
			mc->udev->bus->bus_name,
			mc->udev->devpath, status);
}

static void do_notify(struct work_struct *work)
{
	struct motorcontrol *mc =
		container_of(work, struct motorcontrol, do_notify.work);
	int i;
	char sysfs_file[8];

	for (i=0; i<4; i++) {
		if (test_and_clear_bit(i, &mc->input_events)) {
			sprintf(sysfs_file, "input%d", i);
			sysfs_notify(&mc->dev->kobj, NULL, sysfs_file);
		}
	}

	for (i=0; i<2; i++) {
		if (test_and_clear_bit(i, &mc->speed_events)) {
			sprintf(sysfs_file, "speed%d", i);
			sysfs_notify(&mc->dev->kobj, NULL, sysfs_file);
		}
	}

	for (i=0; i<2; i++) {
		if (test_and_clear_bit(i, &mc->exceed_events))
			dev_warn(&mc->intf->dev,
				"motor #%d exceeds 1.5 Amp current limit\n", i);
	}
}

#define show_set_speed(value)		\
static ssize_t set_speed##value(struct device *dev,			\
					struct device_attribute *attr,	\
					const char *buf, size_t count)	\
{									\
	struct motorcontrol *mc = dev_get_drvdata(dev);			\
	int speed;							\
	int retval;							\
									\
	if (sscanf(buf, "%d", &speed) < 1)				\
		return -EINVAL;						\
									\
	if (speed < -100 || speed > 100)				\
		return -EINVAL;						\
									\
	mc->desired_speed[value] = speed;				\
									\
	retval = set_motor(mc, value);					\
									\
	return retval ? retval : count;					\
}									\
									\
static ssize_t show_speed##value(struct device *dev,			\
					struct device_attribute *attr,	\
					char *buf)			\
{									\
	struct motorcontrol *mc = dev_get_drvdata(dev);			\
									\
	return sprintf(buf, "%d\n", mc->speed[value]);			\
}

#define speed_attr(value) 						\
	__ATTR(speed##value, S_IWUGO | S_IRUGO, 			\
		show_speed##value, set_speed##value)

show_set_speed(0);
show_set_speed(1);

#define show_set_acceleration(value)		\
static ssize_t set_acceleration##value(struct device *dev, 		\
					struct device_attribute *attr,	\
					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;						\
									\
	if (acceleration < 0 || acceleration > 100)			\
		return -EINVAL;						\
									\
	mc->acceleration[value] = acceleration;				\
									\
	retval = set_motor(mc, value);					\
									\
	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, 0,
				"motorcontrol%d", mc->dev_no);
	if (IS_ERR(mc->dev)) {
		rc = PTR_ERR(mc->dev);
		mc->dev = NULL;
		goto out;
	}

	dev_set_drvdata(mc->dev, mc);

	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");