drivers/usb/misc/phidgetservo.c

   1 /*
   2  * USB PhidgetServo driver 1.0
   3  *
   4  * Copyright (C) 2004 Sean Young <sean@mess.org>
   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  * -23 < degrees < 203
  16  * 0 < minutes < 59
  17  *
  18  * CAUTION: Generally you should use 0 < degrees < 180 as anything else
  19  * is probably beyond the range of your servo and may damage it.
  20  *
  21  * Jun 16, 2004: Sean Young <sean@mess.org>
  22  *  - cleanups
  23  *  - was using memory after kfree()
  24  */
  25
  26 #include <linux/config.h>
  27 #ifdef CONFIG_USB_DEBUG
  28 #define DEBUG   1
  29 #endif
  30 #include <linux/kernel.h>
  31 #include <linux/errno.h>
  32 #include <linux/init.h>
  33 #include <linux/slab.h>
  34 #include <linux/module.h>
  35 #include <linux/usb.h>
  36
  37 #define DRIVER_AUTHOR "Sean Young <sean@mess.org>"
  38 #define DRIVER_DESC "USB PhidgetServo Driver"
  39
  40 #define VENDOR_ID_GLAB                          0x06c2
  41 #define DEVICE_ID_GLAB_PHIDGETSERVO_QUAD        0x0038
  42 #define DEVICE_ID_GLAB_PHIDGETSERVO_UNI         0x0039
  43
  44 #define VENDOR_ID_WISEGROUP                     0x0925
  45 #define VENDOR_ID_WISEGROUP_PHIDGETSERVO_QUAD   0x8101
  46 #define VENDOR_ID_WISEGROUP_PHIDGETSERVO_UNI    0x8104
  47
  48 #define SERVO_VERSION_30                        0x01
  49 #define SERVO_COUNT_QUAD                        0x02
  50
  51 static struct usb_device_id id_table[] = {
  52         {
  53                 USB_DEVICE(VENDOR_ID_GLAB, DEVICE_ID_GLAB_PHIDGETSERVO_QUAD),
  54                 .driver_info = SERVO_VERSION_30 | SERVO_COUNT_QUAD
  55         },
  56         {
  57                 USB_DEVICE(VENDOR_ID_GLAB, DEVICE_ID_GLAB_PHIDGETSERVO_UNI),
  58                 .driver_info = SERVO_VERSION_30
  59         },
  60         {
  61                 USB_DEVICE(VENDOR_ID_WISEGROUP,
  62                                 VENDOR_ID_WISEGROUP_PHIDGETSERVO_QUAD),
  63                 .driver_info = SERVO_COUNT_QUAD
  64         },
  65         {
  66                 USB_DEVICE(VENDOR_ID_WISEGROUP,
  67                                 VENDOR_ID_WISEGROUP_PHIDGETSERVO_UNI),
  68                 .driver_info = 0
  69         },
  70         {}
  71 };
  72
  73 MODULE_DEVICE_TABLE(usb, id_table);
  74
  75 struct phidget_servo {
  76         struct usb_device *udev;
  77         ulong type;
  78         int pulse[4];
  79         int degrees[4];
  80         int minutes[4];
  81 };
  82
  83 static int
  84 change_position_v30(struct phidget_servo *servo, int servo_no, int degrees,
  85                                                                 int minutes)
  86 {
  87         int retval;
  88         unsigned char *buffer;
  89
  90         buffer = kmalloc(6, GFP_KERNEL);
  91         if (!buffer) {
  92                 dev_err(&servo->udev->dev, "%s - out of memory\n",
  93                         __FUNCTION__);
  94                 return -ENOMEM;
  95         }
  96
  97         /*
  98          * pulse = 0 - 4095
  99          * angle = 0 - 180 degrees
 100          *
 101          * pulse = angle * 10.6 + 243.8
 102          */
 103         servo->pulse[servo_no] = ((degrees*60 + minutes)*106 + 2438*60)/600;
 104         servo->degrees[servo_no]= degrees;
 105         servo->minutes[servo_no]= minutes;
 106
 107         /*
 108          * The PhidgetServo v3.0 is controlled by sending 6 bytes,
 109          * 4 * 12 bits for each servo.
 110          *
 111          * low = lower 8 bits pulse
 112          * high = higher 4 bits pulse
 113          *
 114          * offset     bits
 115          * +---+-----------------+
 116          * | 0 |      low 0      |
 117          * +---+--------+--------+
 118          * | 1 | high 1 | high 0 |
 119          * +---+--------+--------+
 120          * | 2 |      low 1      |
 121          * +---+-----------------+
 122          * | 3 |      low 2      |
 123          * +---+--------+--------+
 124          * | 4 | high 3 | high 2 |
 125          * +---+--------+--------+
 126          * | 5 |      low 3      |
 127          * +---+-----------------+
 128          */
 129
 130         buffer[0] = servo->pulse[0] & 0xff;
 131         buffer[1] = (servo->pulse[0] >> 8 & 0x0f)
 132             | (servo->pulse[1] >> 4 & 0xf0);
 133         buffer[2] = servo->pulse[1] & 0xff;
 134         buffer[3] = servo->pulse[2] & 0xff;
 135         buffer[4] = (servo->pulse[2] >> 8 & 0x0f)
 136             | (servo->pulse[3] >> 4 & 0xf0);
 137         buffer[5] = servo->pulse[3] & 0xff;
 138
 139         dev_dbg(&servo->udev->dev,
 140                 "data: %02x %02x %02x %02x %02x %02x\n",
 141                 buffer[0], buffer[1], buffer[2],
 142                 buffer[3], buffer[4], buffer[5]);
 143
 144         retval = usb_control_msg(servo->udev,
 145                                  usb_sndctrlpipe(servo->udev, 0),
 146                                  0x09, 0x21, 0x0200, 0x0000, buffer, 6, 2 * HZ);
 147
 148         kfree(buffer);
 149
 150         return retval;
 151 }
 152
 153 static int
 154 change_position_v20(struct phidget_servo *servo, int servo_no, int degrees,
 155                                                                 int minutes)
 156 {
 157         int retval;
 158         unsigned char *buffer;
 159
 160         buffer = kmalloc(2, GFP_KERNEL);
 161         if (!buffer) {
 162                 dev_err(&servo->udev->dev, "%s - out of memory\n",
 163                         __FUNCTION__);
 164                 return -ENOMEM;
 165         }
 166
 167         /*
 168          * angle = 0 - 180 degrees
 169          * pulse = angle + 23
 170          */
 171         servo->pulse[servo_no]= degrees + 23;
 172         servo->degrees[servo_no]= degrees;
 173         servo->minutes[servo_no]= 0;
 174
 175         /*
 176          * The PhidgetServo v2.0 is controlled by sending two bytes. The
 177          * first byte is the servo number xor'ed with 2:
 178          *
 179          * servo 0 = 2
 180          * servo 1 = 3
 181          * servo 2 = 0
 182          * servo 3 = 1
 183          *
 184          * The second byte is the position.
 185          */
 186
 187         buffer[0] = servo_no ^ 2;
 188         buffer[1] = servo->pulse[servo_no];
 189
 190         dev_dbg(&servo->udev->dev, "data: %02x %02x\n", buffer[0], buffer[1]);
 191
 192         retval = usb_control_msg(servo->udev,
 193                                  usb_sndctrlpipe(servo->udev, 0),
 194                                  0x09, 0x21, 0x0200, 0x0000, buffer, 2, 2 * HZ);
 195
 196         kfree(buffer);
 197
 198         return retval;
 199 }
 200
 201 #define show_set(value) \
 202 static ssize_t set_servo##value (struct device *dev,                    \
 203                                         const char *buf, size_t count)  \
 204 {                                                                       \
 205         int degrees, minutes, retval;                                   \
 206         struct usb_interface *intf = to_usb_interface (dev);            \
 207         struct phidget_servo *servo = usb_get_intfdata (intf);          \
 208                                                                         \
 209         minutes = 0;                                                    \
 210         /* must at least convert degrees */                             \
 211         if (sscanf (buf, "%d.%d", &degrees, &minutes) < 1) {            \
 212                 return -EINVAL;                                         \
 213         }                                                               \
 214                                                                         \
 215         if (degrees < -23 || degrees > (180 + 23) ||                    \
 216             minutes < 0 || minutes > 59) {                              \
 217                 return -EINVAL;                                         \
 218         }                                                               \
 219                                                                         \
 220         if (servo->type & SERVO_VERSION_30)                             \
 221                 retval = change_position_v30 (servo, value, degrees,    \
 222                                                         minutes);       \
 223         else                                                            \
 224                 retval = change_position_v20 (servo, value, degrees,    \
 225                                                         minutes);       \
 226                                                                         \
 227         return retval < 0 ? retval : count;                             \
 228 }                                                                       \
 229                                                                         \
 230 static ssize_t show_servo##value (struct device *dev, char *buf)        \
 231 {                                                                       \
 232         struct usb_interface *intf = to_usb_interface (dev);            \
 233         struct phidget_servo *servo = usb_get_intfdata (intf);          \
 234                                                                         \
 235         return sprintf (buf, "%d.%02d\n", servo->degrees[value],        \
 236                                 servo->minutes[value]);                 \
 237 }                                                                       \
 238 static DEVICE_ATTR(servo##value, S_IWUGO | S_IRUGO,                     \
 239           show_servo##value, set_servo##value);
 240
 241 show_set(0);
 242 show_set(1);
 243 show_set(2);
 244 show_set(3);
 245
 246 static int
 247 servo_probe(struct usb_interface *interface, const struct usb_device_id *id)
 248 {
 249         struct usb_device *udev = interface_to_usbdev(interface);
 250         struct phidget_servo *dev;
 251
 252         dev = kmalloc(sizeof (struct phidget_servo), GFP_KERNEL);
 253         if (dev == NULL) {
 254                 dev_err(&interface->dev, "%s - out of memory\n", __FUNCTION__);
 255                 return -ENOMEM;
 256         }
 257         memset(dev, 0x00, sizeof (*dev));
 258
 259         dev->udev = usb_get_dev(udev);
 260         dev->type = id->driver_info;
 261         usb_set_intfdata(interface, dev);
 262
 263         device_create_file(&interface->dev, &dev_attr_servo0);
 264         if (dev->type & SERVO_COUNT_QUAD) {
 265                 device_create_file(&interface->dev, &dev_attr_servo1);
 266                 device_create_file(&interface->dev, &dev_attr_servo2);
 267                 device_create_file(&interface->dev, &dev_attr_servo3);
 268         }
 269
 270         dev_info(&interface->dev, "USB %d-Motor PhidgetServo v%d.0 attached\n",
 271                 dev->type & SERVO_COUNT_QUAD ? 4 : 1,
 272                 dev->type & SERVO_VERSION_30 ? 3 : 2);
 273
 274         if(!(dev->type & SERVO_VERSION_30))
 275                 dev_info(&interface->dev,
 276                          "WARNING: v2.0 not tested! Please report if it works.\n");
 277
 278         return 0;
 279 }
 280
 281 static void
 282 servo_disconnect(struct usb_interface *interface)
 283 {
 284         struct phidget_servo *dev;
 285
 286         dev = usb_get_intfdata(interface);
 287         usb_set_intfdata(interface, NULL);
 288
 289         device_remove_file(&interface->dev, &dev_attr_servo0);
 290         if (dev->type & SERVO_COUNT_QUAD) {
 291                 device_remove_file(&interface->dev, &dev_attr_servo1);
 292                 device_remove_file(&interface->dev, &dev_attr_servo2);
 293                 device_remove_file(&interface->dev, &dev_attr_servo3);
 294         }
 295
 296         usb_put_dev(dev->udev);
 297
 298         dev_info(&interface->dev, "USB %d-Motor PhidgetServo v%d.0 detached\n",
 299                 dev->type & SERVO_COUNT_QUAD ? 4 : 1,
 300                 dev->type & SERVO_VERSION_30 ? 3 : 2);
 301
 302         kfree(dev);
 303 }
 304
 305 static struct usb_driver servo_driver = {
 306         .owner = THIS_MODULE,
 307         .name = "phidgetservo",
 308         .probe = servo_probe,
 309         .disconnect = servo_disconnect,
 310         .id_table = id_table
 311 };
 312
 313 static int __init
 314 phidget_servo_init(void)
 315 {
 316         int retval;
 317
 318         retval = usb_register(&servo_driver);
 319         if (retval)
 320                 err("usb_register failed. Error number %d", retval);
 321
 322         return retval;
 323 }
 324
 325 static void __exit
 326 phidget_servo_exit(void)
 327 {
 328         usb_deregister(&servo_driver);
 329 }
 330
 331 module_init(phidget_servo_init);
 332 module_exit(phidget_servo_exit);
 333
 334 MODULE_AUTHOR(DRIVER_AUTHOR);
 335 MODULE_DESCRIPTION(DRIVER_DESC);
 336 MODULE_LICENSE("GPL");