X-Git-Url: http://git.onelab.eu/?a=blobdiff_plain;f=drivers%2Fusb%2Fmisc%2Fphidgetservo.c;h=0d9de2f739301b6170635f4461f5dded1d9292dc;hb=97bf2856c6014879bd04983a3e9dfcdac1e7fe85;hp=b3418d2bcc699257e68698703e544d5a5a844bde;hpb=76828883507a47dae78837ab5dec5a5b4513c667;p=linux-2.6.git diff --git a/drivers/usb/misc/phidgetservo.c b/drivers/usb/misc/phidgetservo.c index b3418d2bc..0d9de2f73 100644 --- a/drivers/usb/misc/phidgetservo.c +++ b/drivers/usb/misc/phidgetservo.c @@ -1,7 +1,7 @@ /* * USB PhidgetServo driver 1.0 * - * Copyright (C) 2004 Sean Young + * Copyright (C) 2004, 2006 Sean Young * * 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 @@ -15,17 +15,8 @@ * * 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 - * - cleanups - * - was using memory after kfree() - * Aug 8, 2004: Sean Young - * - set the highest angle as high as the hardware allows, there are - * some odd servos out there - * */ -#include #include #include #include @@ -33,6 +24,8 @@ #include #include +#include "phidget.h" + #define DRIVER_AUTHOR "Sean Young " #define DRIVER_DESC "USB PhidgetServo Driver" @@ -71,8 +64,12 @@ static struct usb_device_id id_table[] = { 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]; @@ -204,16 +201,16 @@ change_position_v20(struct phidget_servo *servo, int servo_no, int degrees, } #define show_set(value) \ -static ssize_t set_servo##value (struct device *dev, struct device_attribute *attr, \ +static ssize_t set_servo##value (struct device *dev, \ + struct device_attribute *attr, \ 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); \ + struct phidget_servo *servo = dev_get_drvdata(dev); \ \ minutes = 0; \ /* must at least convert degrees */ \ - if (sscanf (buf, "%d.%d", °rees, &minutes) < 1) { \ + if (sscanf(buf, "%d.%d", °rees, &minutes) < 1) { \ return -EINVAL; \ } \ \ @@ -221,87 +218,128 @@ static ssize_t set_servo##value (struct device *dev, struct device_attribute *at return -EINVAL; \ \ if (servo->type & SERVO_VERSION_30) \ - retval = change_position_v30 (servo, value, degrees, \ + retval = change_position_v30(servo, value, degrees, \ minutes); \ else \ - retval = change_position_v20 (servo, value, degrees, \ + 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) \ +static ssize_t show_servo##value (struct device *dev, \ + struct device_attribute *attr, \ + char *buf) \ { \ - struct usb_interface *intf = to_usb_interface (dev); \ - struct phidget_servo *servo = usb_get_intfdata (intf); \ + struct phidget_servo *servo = dev_get_drvdata(dev); \ \ - return sprintf (buf, "%d.%02d\n", servo->degrees[value], \ + 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); +} +#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 = kmalloc(sizeof (struct phidget_servo), GFP_KERNEL); + dev = kzalloc(sizeof (struct phidget_servo), GFP_KERNEL); if (dev == NULL) { dev_err(&interface->dev, "%s - out of memory\n", __FUNCTION__); - return -ENOMEM; + rc = -ENOMEM; + goto out; } - memset(dev, 0x00, sizeof (*dev)); dev->udev = usb_get_dev(udev); dev->type = id->driver_info; + dev->dev_no = -1; 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); + 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, 0, + "servo%d", dev->dev_no); + if (IS_ERR(dev->dev)) { + rc = PTR_ERR(dev->dev); + dev->dev = NULL; + goto out; + } + dev_set_drvdata(dev->dev, dev); + + servo_count = dev->type & SERVO_COUNT_QUAD ? 4 : 1; + + for (i=0; idev, &dev_attrs[i]); + if (rc) + goto out2; } 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); + servo_count, dev->type & SERVO_VERSION_30 ? 3 : 2); - if(!(dev->type & SERVO_VERSION_30)) + 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); - 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); - } + if (!dev) + return; + + servo_count = dev->type & SERVO_COUNT_QUAD ? 4 : 1; + + for (i=0; idev, &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", - dev->type & SERVO_COUNT_QUAD ? 4 : 1, - dev->type & SERVO_VERSION_30 ? 3 : 2); + servo_count, dev->type & SERVO_VERSION_30 ? 3 : 2); + clear_bit(dev->dev_no, &device_no); kfree(dev); }