/*
* USB PhidgetServo driver 1.0
*
- * Copyright (C) 2004 Sean Young <sean@mess.org>
+ * Copyright (C) 2004, 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
*
* 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>
#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 PhidgetServo Driver"
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];
}
#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; \
} \
\
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; i<servo_count; i++) {
+ rc = device_create_file(dev->dev, &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; i<servo_count; i++)
+ device_remove_file(dev->dev, &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);
}
git://git.onelab.eu / linux-2.6.git / blobdiff