* controllers available at: http://www.phidgets.com/
*
* Note that the driver takes input as: degrees.minutes
- * -23 < degrees < 203
- * 0 < minutes < 59
*
* 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>
-#ifdef CONFIG_USB_DEBUG
-#define DEBUG 1
-#endif
#include <linux/kernel.h>
#include <linux/errno.h>
#include <linux/init.h>
#define DRIVER_AUTHOR "Sean Young <sean@mess.org>"
#define DRIVER_DESC "USB PhidgetServo Driver"
-#define VENDOR_ID_GLAB 0x06c2
-#define DEVICE_ID_4MOTOR_SERVO_30 0x0038
-#define DEVICE_ID_1MOTOR_SERVO_30 0x0039
+#define VENDOR_ID_GLAB 0x06c2
+#define DEVICE_ID_GLAB_PHIDGETSERVO_QUAD 0x0038
+#define DEVICE_ID_GLAB_PHIDGETSERVO_UNI 0x0039
-#define VENDOR_ID_WISEGROUP 0x0925
-#define DEVICE_ID_1MOTOR_SERVO_20 0x8101
-#define DEVICE_ID_4MOTOR_SERVO_20 0x8104
+#define VENDOR_ID_WISEGROUP 0x0925
+#define VENDOR_ID_WISEGROUP_PHIDGETSERVO_QUAD 0x8101
+#define VENDOR_ID_WISEGROUP_PHIDGETSERVO_UNI 0x8104
+
+#define SERVO_VERSION_30 0x01
+#define SERVO_COUNT_QUAD 0x02
static struct usb_device_id id_table[] = {
- {USB_DEVICE(VENDOR_ID_GLAB, DEVICE_ID_4MOTOR_SERVO_30)},
- {USB_DEVICE(VENDOR_ID_GLAB, DEVICE_ID_1MOTOR_SERVO_30)},
- {USB_DEVICE(VENDOR_ID_WISEGROUP, DEVICE_ID_4MOTOR_SERVO_20)},
- {USB_DEVICE(VENDOR_ID_WISEGROUP, DEVICE_ID_1MOTOR_SERVO_20)},
+ {
+ USB_DEVICE(VENDOR_ID_GLAB, DEVICE_ID_GLAB_PHIDGETSERVO_QUAD),
+ .driver_info = SERVO_VERSION_30 | SERVO_COUNT_QUAD
+ },
+ {
+ USB_DEVICE(VENDOR_ID_GLAB, DEVICE_ID_GLAB_PHIDGETSERVO_UNI),
+ .driver_info = SERVO_VERSION_30
+ },
+ {
+ USB_DEVICE(VENDOR_ID_WISEGROUP,
+ VENDOR_ID_WISEGROUP_PHIDGETSERVO_QUAD),
+ .driver_info = SERVO_COUNT_QUAD
+ },
+ {
+ USB_DEVICE(VENDOR_ID_WISEGROUP,
+ VENDOR_ID_WISEGROUP_PHIDGETSERVO_UNI),
+ .driver_info = 0
+ },
{}
};
struct phidget_servo {
struct usb_device *udev;
- int version;
- int quad_servo;
+ ulong type;
int pulse[4];
int degrees[4];
int minutes[4];
};
-static void
+static int
change_position_v30(struct phidget_servo *servo, int servo_no, int degrees,
int minutes)
{
int retval;
unsigned char *buffer;
+ if (degrees < -23 || degrees > 362)
+ return -EINVAL;
+
buffer = kmalloc(6, GFP_KERNEL);
if (!buffer) {
dev_err(&servo->udev->dev, "%s - out of memory\n",
__FUNCTION__);
- return;
+ return -ENOMEM;
}
/*
retval = usb_control_msg(servo->udev,
usb_sndctrlpipe(servo->udev, 0),
- 0x09, 0x21, 0x0200, 0x0000, buffer, 6, 2 * HZ);
- if (retval != 6)
- dev_err(&servo->udev->dev, "retval = %d\n", retval);
+ 0x09, 0x21, 0x0200, 0x0000, buffer, 6, 2000);
+
kfree(buffer);
+
+ return retval;
}
-static void
+static int
change_position_v20(struct phidget_servo *servo, int servo_no, int degrees,
int minutes)
{
int retval;
unsigned char *buffer;
+ if (degrees < -23 || degrees > 278)
+ return -EINVAL;
+
buffer = kmalloc(2, GFP_KERNEL);
if (!buffer) {
dev_err(&servo->udev->dev, "%s - out of memory\n",
__FUNCTION__);
- return;
+ return -ENOMEM;
}
/*
retval = usb_control_msg(servo->udev,
usb_sndctrlpipe(servo->udev, 0),
- 0x09, 0x21, 0x0200, 0x0000, buffer, 2, 2 * HZ);
- if (retval != 2)
- dev_err(&servo->udev->dev, "retval = %d\n", retval);
+ 0x09, 0x21, 0x0200, 0x0000, buffer, 2, 2000);
+
kfree(buffer);
+
+ return retval;
}
#define show_set(value) \
-static ssize_t set_servo##value (struct device *dev, \
+static ssize_t set_servo##value (struct device *dev, struct device_attribute *attr, \
const char *buf, size_t count) \
{ \
- int degrees, minutes; \
+ int degrees, minutes, retval; \
struct usb_interface *intf = to_usb_interface (dev); \
struct phidget_servo *servo = usb_get_intfdata (intf); \
\
return -EINVAL; \
} \
\
- if (degrees < -23 || degrees > (180 + 23) || \
- minutes < 0 || minutes > 59) { \
+ if (minutes < 0 || minutes > 59) \
return -EINVAL; \
- } \
\
- if (servo->version >= 3) \
- change_position_v30 (servo, value, degrees, minutes); \
+ if (servo->type & SERVO_VERSION_30) \
+ retval = change_position_v30 (servo, value, degrees, \
+ minutes); \
else \
- change_position_v20 (servo, value, degrees, minutes); \
+ retval = change_position_v20 (servo, value, degrees, \
+ minutes); \
\
- return count; \
+ return retval < 0 ? retval : count; \
} \
\
-static ssize_t show_servo##value (struct device *dev, 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); \
servo_probe(struct usb_interface *interface, const struct usb_device_id *id)
{
struct usb_device *udev = interface_to_usbdev(interface);
- struct phidget_servo *dev = NULL;
+ struct phidget_servo *dev;
- 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;
}
- memset(dev, 0x00, sizeof (*dev));
dev->udev = usb_get_dev(udev);
- switch (udev->descriptor.idVendor) {
- case VENDOR_ID_WISEGROUP:
- dev->version = 2;
- break;
- case VENDOR_ID_GLAB:
- dev->version = 3;
- break;
- }
- switch (udev->descriptor.idProduct) {
- case DEVICE_ID_4MOTOR_SERVO_20:
- case DEVICE_ID_4MOTOR_SERVO_30:
- dev->quad_servo = 1;
- break;
- case DEVICE_ID_1MOTOR_SERVO_20:
- case DEVICE_ID_1MOTOR_SERVO_30:
- dev->quad_servo = 0;
- break;
- }
-
+ dev->type = id->driver_info;
usb_set_intfdata(interface, dev);
device_create_file(&interface->dev, &dev_attr_servo0);
- if (dev->quad_servo) {
+ 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);
}
dev_info(&interface->dev, "USB %d-Motor PhidgetServo v%d.0 attached\n",
- dev->quad_servo ? 4 : 1, dev->version);
- if (dev->version == 2)
+ dev->type & SERVO_COUNT_QUAD ? 4 : 1,
+ dev->type & SERVO_VERSION_30 ? 3 : 2);
+
+ if(!(dev->type & SERVO_VERSION_30))
dev_info(&interface->dev,
"WARNING: v2.0 not tested! Please report if it works.\n");
usb_set_intfdata(interface, NULL);
device_remove_file(&interface->dev, &dev_attr_servo0);
- if (dev->quad_servo) {
+ 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);
usb_put_dev(dev->udev);
- kfree(dev);
-
dev_info(&interface->dev, "USB %d-Motor PhidgetServo v%d.0 detached\n",
- dev->quad_servo ? 4 : 1, dev->version);
+ dev->type & SERVO_COUNT_QUAD ? 4 : 1,
+ dev->type & SERVO_VERSION_30 ? 3 : 2);
+
+ kfree(dev);
}
static struct usb_driver servo_driver = {
- .owner = THIS_MODULE,
.name = "phidgetservo",
.probe = servo_probe,
.disconnect = servo_disconnect,
static int __init
phidget_servo_init(void)
{
- int retval = 0;
+ int retval;
retval = usb_register(&servo_driver);
if (retval)
git://git.onelab.eu / linux-2.6.git / blobdiff