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  *
  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.
  18  *
  19  * Jun 16, 2004: Sean Young <sean@mess.org>
  20  *  - cleanups
  21  *  - was using memory after kfree()
  22  * Aug 8, 2004: Sean Young <sean@mess.org>
  23  *  - set the highest angle as high as the hardware allows, there are
  24  *    some odd servos out there
  25  *
  26  */
  27
  28 #include <linux/kernel.h>
  29 #include <linux/errno.h>
  30 #include <linux/init.h>
  31 #include <linux/slab.h>
  32 #include <linux/module.h>
  33 #include <linux/usb.h>
  34
  35 #define DRIVER_AUTHOR "Sean Young <sean@mess.org>"
  36 #define DRIVER_DESC "USB PhidgetServo Driver"
  37
  38 #define VENDOR_ID_GLAB                          0x06c2
  39 #define DEVICE_ID_GLAB_PHIDGETSERVO_QUAD        0x0038
  40 #define DEVICE_ID_GLAB_PHIDGETSERVO_UNI         0x0039
  41
  42 #define VENDOR_ID_WISEGROUP                     0x0925
  43 #define VENDOR_ID_WISEGROUP_PHIDGETSERVO_QUAD   0x8101
  44 #define VENDOR_ID_WISEGROUP_PHIDGETSERVO_UNI    0x8104
  45
  46 #define SERVO_VERSION_30                        0x01
  47 #define SERVO_COUNT_QUAD                        0x02
  48
  49 static struct usb_device_id id_table[] = {
  50         {
  51                 USB_DEVICE(VENDOR_ID_GLAB, DEVICE_ID_GLAB_PHIDGETSERVO_QUAD),
  52                 .driver_info = SERVO_VERSION_30 | SERVO_COUNT_QUAD
  53         },
  54         {
  55                 USB_DEVICE(VENDOR_ID_GLAB, DEVICE_ID_GLAB_PHIDGETSERVO_UNI),
  56                 .driver_info = SERVO_VERSION_30
  57         },
  58         {
  59                 USB_DEVICE(VENDOR_ID_WISEGROUP,
  60                                 VENDOR_ID_WISEGROUP_PHIDGETSERVO_QUAD),
  61                 .driver_info = SERVO_COUNT_QUAD
  62         },
  63         {
  64                 USB_DEVICE(VENDOR_ID_WISEGROUP,
  65                                 VENDOR_ID_WISEGROUP_PHIDGETSERVO_UNI),
  66                 .driver_info = 0
  67         },
  68         {}
  69 };
  70
  71 MODULE_DEVICE_TABLE(usb, id_table);
  72
  73 struct phidget_servo {
  74         struct usb_device *udev;
  75         ulong type;
  76         int pulse[4];
  77         int degrees[4];
  78         int minutes[4];
  79 };
  80
  81 static int
  82 change_position_v30(struct phidget_servo *servo, int servo_no, int degrees,
  83                                                                 int minutes)
  84 {
  85         int retval;
  86         unsigned char *buffer;
  87
  88         if (degrees < -23 || degrees > 362)
  89                 return -EINVAL;
  90
  91         buffer = kmalloc(6, GFP_KERNEL);
  92         if (!buffer) {
  93                 dev_err(&servo->udev->dev, "%s - out of memory\n",
  94                         __FUNCTION__);
  95                 return -ENOMEM;
  96         }
  97
  98         /*
  99          * pulse = 0 - 4095
 100          * angle = 0 - 180 degrees
 101          *
 102          * pulse = angle * 10.6 + 243.8
 103          */
 104         servo->pulse[servo_no] = ((degrees*60 + minutes)*106 + 2438*60)/600;
 105         servo->degrees[servo_no]= degrees;
 106         servo->minutes[servo_no]= minutes;
 107
 108         /*
 109          * The PhidgetServo v3.0 is controlled by sending 6 bytes,
 110          * 4 * 12 bits for each servo.
 111          *
 112          * low = lower 8 bits pulse
 113          * high = higher 4 bits pulse
 114          *
 115          * offset     bits
 116          * +---+-----------------+
 117          * | 0 |      low 0      |
 118          * +---+--------+--------+
 119          * | 1 | high 1 | high 0 |
 120          * +---+--------+--------+
 121          * | 2 |      low 1      |
 122          * +---+-----------------+
 123          * | 3 |      low 2      |
 124          * +---+--------+--------+
 125          * | 4 | high 3 | high 2 |
 126          * +---+--------+--------+
 127          * | 5 |      low 3      |
 128          * +---+-----------------+
 129          */
 130
 131         buffer[0] = servo->pulse[0] & 0xff;
 132         buffer[1] = (servo->pulse[0] >> 8 & 0x0f)
 133             | (servo->pulse[1] >> 4 & 0xf0);
 134         buffer[2] = servo->pulse[1] & 0xff;
 135         buffer[3] = servo->pulse[2] & 0xff;
 136         buffer[4] = (servo->pulse[2] >> 8 & 0x0f)
 137             | (servo->pulse[3] >> 4 & 0xf0);
 138         buffer[5] = servo->pulse[3] & 0xff;
 139
 140         dev_dbg(&servo->udev->dev,
 141                 "data: %02x %02x %02x %02x %02x %02x\n",
 142                 buffer[0], buffer[1], buffer[2],
 143                 buffer[3], buffer[4], buffer[5]);
 144
 145         retval = usb_control_msg(servo->udev,
 146                                  usb_sndctrlpipe(servo->udev, 0),
 147                                  0x09, 0x21, 0x0200, 0x0000, buffer, 6, 2000);
 148
 149         kfree(buffer);
 150
 151         return retval;
 152 }
 153
 154 static int
 155 change_position_v20(struct phidget_servo *servo, int servo_no, int degrees,
 156                                                                 int minutes)
 157 {
 158         int retval;
 159         unsigned char *buffer;
 160
 161         if (degrees < -23 || degrees > 278)
 162                 return -EINVAL;
 163
 164         buffer = kmalloc(2, GFP_KERNEL);
 165         if (!buffer) {
 166                 dev_err(&servo->udev->dev, "%s - out of memory\n",
 167                         __FUNCTION__);
 168                 return -ENOMEM;
 169         }
 170
 171         /*
 172          * angle = 0 - 180 degrees
 173          * pulse = angle + 23
 174          */
 175         servo->pulse[servo_no]= degrees + 23;
 176         servo->degrees[servo_no]= degrees;
 177         servo->minutes[servo_no]= 0;
 178
 179         /*
 180          * The PhidgetServo v2.0 is controlled by sending two bytes. The
 181          * first byte is the servo number xor'ed with 2:
 182          *
 183          * servo 0 = 2
 184          * servo 1 = 3
 185          * servo 2 = 0
 186          * servo 3 = 1
 187          *
 188          * The second byte is the position.
 189          */
 190
 191         buffer[0] = servo_no ^ 2;
 192         buffer[1] = servo->pulse[servo_no];
 193
 194         dev_dbg(&servo->udev->dev, "data: %02x %02x\n", buffer[0], buffer[1]);
 195
 196         retval = usb_control_msg(servo->udev,
 197                                  usb_sndctrlpipe(servo->udev, 0),
 198                                  0x09, 0x21, 0x0200, 0x0000, buffer, 2, 2000);
 199
 200         kfree(buffer);
 201
 202         return retval;
 203 }
 204
 205 #define show_set(value) \
 206 static ssize_t set_servo##value (struct device *dev, struct device_attribute *attr,                     \
 207                                         const char *buf, size_t count)  \
 208 {                                                                       \
 209         int degrees, minutes, retval;                                   \
 210         struct usb_interface *intf = to_usb_interface (dev);            \
 211         struct phidget_servo *servo = usb_get_intfdata (intf);          \
 212                                                                         \
 213         minutes = 0;                                                    \
 214         /* must at least convert degrees */                             \
 215         if (sscanf (buf, "%d.%d", &degrees, &minutes) < 1) {            \
 216                 return -EINVAL;                                         \
 217         }                                                               \
 218                                                                         \
 219         if (minutes < 0 || minutes > 59)                                \
 220                 return -EINVAL;                                         \
 221                                                                         \
 222         if (servo->type & SERVO_VERSION_30)                             \
 223                 retval = change_position_v30 (servo, value, degrees,    \
 224                                                         minutes);       \
 225         else                                                            \
 226                 retval = change_position_v20 (servo, value, degrees,    \
 227                                                         minutes);       \
 228                                                                         \
 229         return retval < 0 ? retval : count;                             \
 230 }                                                                       \
 231                                                                         \
 232 static ssize_t show_servo##value (struct device *dev, struct device_attribute *attr, char *buf)         \
 233 {                                                                       \
 234         struct usb_interface *intf = to_usb_interface (dev);            \
 235         struct phidget_servo *servo = usb_get_intfdata (intf);          \
 236                                                                         \
 237         return sprintf (buf, "%d.%02d\n", servo->degrees[value],        \
 238                                 servo->minutes[value]);                 \
 239 }                                                                       \
 240 static DEVICE_ATTR(servo##value, S_IWUGO | S_IRUGO,                     \
 241           show_servo##value, set_servo##value);
 242
 243 show_set(0);
 244 show_set(1);
 245 show_set(2);
 246 show_set(3);
 247
 248 static int
 249 servo_probe(struct usb_interface *interface, const struct usb_device_id *id)
 250 {
 251         struct usb_device *udev = interface_to_usbdev(interface);
 252         struct phidget_servo *dev;
 253
 254         dev = kzalloc(sizeof (struct phidget_servo), GFP_KERNEL);
 255         if (dev == NULL) {
 256                 dev_err(&interface->dev, "%s - out of memory\n", __FUNCTION__);
 257                 return -ENOMEM;
 258         }
 259
 260         dev->udev = usb_get_dev(udev);
 261         dev->type = id->driver_info;
 262         usb_set_intfdata(interface, dev);
 263
 264         device_create_file(&interface->dev, &dev_attr_servo0);
 265         if (dev->type & SERVO_COUNT_QUAD) {
 266                 device_create_file(&interface->dev, &dev_attr_servo1);
 267                 device_create_file(&interface->dev, &dev_attr_servo2);
 268                 device_create_file(&interface->dev, &dev_attr_servo3);
 269         }
 270
 271         dev_info(&interface->dev, "USB %d-Motor PhidgetServo v%d.0 attached\n",
 272                 dev->type & SERVO_COUNT_QUAD ? 4 : 1,
 273                 dev->type & SERVO_VERSION_30 ? 3 : 2);
 274
 275         if(!(dev->type & SERVO_VERSION_30))
 276                 dev_info(&interface->dev,
 277                          "WARNING: v2.0 not tested! Please report if it works.\n");
 278
 279         return 0;
 280 }
 281
 282 static void
 283 servo_disconnect(struct usb_interface *interface)
 284 {
 285         struct phidget_servo *dev;
 286
 287         dev = usb_get_intfdata(interface);
 288         usb_set_intfdata(interface, NULL);
 289
 290         device_remove_file(&interface->dev, &dev_attr_servo0);
 291         if (dev->type & SERVO_COUNT_QUAD) {
 292                 device_remove_file(&interface->dev, &dev_attr_servo1);
 293                 device_remove_file(&interface->dev, &dev_attr_servo2);
 294                 device_remove_file(&interface->dev, &dev_attr_servo3);
 295         }
 296
 297         usb_put_dev(dev->udev);
 298
 299         dev_info(&interface->dev, "USB %d-Motor PhidgetServo v%d.0 detached\n",
 300                 dev->type & SERVO_COUNT_QUAD ? 4 : 1,
 301                 dev->type & SERVO_VERSION_30 ? 3 : 2);
 302
 303         kfree(dev);
 304 }
 305
 306 static struct usb_driver servo_driver = {
 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");