--- /dev/null
+/*
+ * USB PhidgetServo driver 1.0
+ *
+ * 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
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This is a driver for the USB PhidgetServo version 2.0 and 3.0 servo
+ * controllers available at: http://www.phidgets.com/
+ *
+ * Note that the driver takes input as: degrees.minutes
+ *
+ * CAUTION: Generally you should use 0 < degrees < 180 as anything else
+ * is probably beyond the range of your servo and may damage it.
+ */
+
+#include <linux/kernel.h>
+#include <linux/errno.h>
+#include <linux/init.h>
+#include <linux/slab.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"
+
+#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 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_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
+ },
+ {}
+};
+
+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];
+ int minutes[4];
+};
+
+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",
+ __func__);
+ return -ENOMEM;
+ }
+
+ /*
+ * pulse = 0 - 4095
+ * angle = 0 - 180 degrees
+ *
+ * pulse = angle * 10.6 + 243.8
+ */
+ servo->pulse[servo_no] = ((degrees*60 + minutes)*106 + 2438*60)/600;
+ servo->degrees[servo_no]= degrees;
+ servo->minutes[servo_no]= minutes;
+
+ /*
+ * The PhidgetServo v3.0 is controlled by sending 6 bytes,
+ * 4 * 12 bits for each servo.
+ *
+ * low = lower 8 bits pulse
+ * high = higher 4 bits pulse
+ *
+ * offset bits
+ * +---+-----------------+
+ * | 0 | low 0 |
+ * +---+--------+--------+
+ * | 1 | high 1 | high 0 |
+ * +---+--------+--------+
+ * | 2 | low 1 |
+ * +---+-----------------+
+ * | 3 | low 2 |
+ * +---+--------+--------+
+ * | 4 | high 3 | high 2 |
+ * +---+--------+--------+
+ * | 5 | low 3 |
+ * +---+-----------------+
+ */
+
+ buffer[0] = servo->pulse[0] & 0xff;
+ buffer[1] = (servo->pulse[0] >> 8 & 0x0f)
+ | (servo->pulse[1] >> 4 & 0xf0);
+ buffer[2] = servo->pulse[1] & 0xff;
+ buffer[3] = servo->pulse[2] & 0xff;
+ buffer[4] = (servo->pulse[2] >> 8 & 0x0f)
+ | (servo->pulse[3] >> 4 & 0xf0);
+ buffer[5] = servo->pulse[3] & 0xff;
+
+ dev_dbg(&servo->udev->dev,
+ "data: %02x %02x %02x %02x %02x %02x\n",
+ buffer[0], buffer[1], buffer[2],
+ buffer[3], buffer[4], buffer[5]);
+
+ retval = usb_control_msg(servo->udev,
+ usb_sndctrlpipe(servo->udev, 0),
+ 0x09, 0x21, 0x0200, 0x0000, buffer, 6, 2000);
+
+ kfree(buffer);
+
+ return retval;
+}
+
+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",
+ __func__);
+ return -ENOMEM;
+ }
+
+ /*
+ * angle = 0 - 180 degrees
+ * pulse = angle + 23
+ */
+ servo->pulse[servo_no]= degrees + 23;
+ servo->degrees[servo_no]= degrees;
+ servo->minutes[servo_no]= 0;
+
+ /*
+ * The PhidgetServo v2.0 is controlled by sending two bytes. The
+ * first byte is the servo number xor'ed with 2:
+ *
+ * servo 0 = 2
+ * servo 1 = 3
+ * servo 2 = 0
+ * servo 3 = 1
+ *
+ * The second byte is the position.
+ */
+
+ buffer[0] = servo_no ^ 2;
+ buffer[1] = servo->pulse[servo_no];
+
+ dev_dbg(&servo->udev->dev, "data: %02x %02x\n", buffer[0], buffer[1]);
+
+ retval = usb_control_msg(servo->udev,
+ usb_sndctrlpipe(servo->udev, 0),
+ 0x09, 0x21, 0x0200, 0x0000, buffer, 2, 2000);
+
+ kfree(buffer);
+
+ return retval;
+}
+
+#define show_set(value) \
+static ssize_t set_servo##value (struct device *dev, \
+ struct device_attribute *attr, \
+ const char *buf, size_t count) \
+{ \
+ int degrees, minutes, retval; \
+ struct phidget_servo *servo = dev_get_drvdata(dev); \
+ \
+ minutes = 0; \
+ /* must at least convert degrees */ \
+ if (sscanf(buf, "%d.%d", °rees, &minutes) < 1) { \
+ return -EINVAL; \
+ } \
+ \
+ if (minutes < 0 || minutes > 59) \
+ return -EINVAL; \
+ \
+ if (servo->type & SERVO_VERSION_30) \
+ retval = change_position_v30(servo, value, degrees, \
+ minutes); \
+ else \
+ 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) \
+{ \
+ struct phidget_servo *servo = dev_get_drvdata(dev); \
+ \
+ return sprintf(buf, "%d.%02d\n", servo->degrees[value], \
+ servo->minutes[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 = kzalloc(sizeof (struct phidget_servo), GFP_KERNEL);
+ if (dev == NULL) {
+ dev_err(&interface->dev, "%s - out of memory\n", __func__);
+ rc = -ENOMEM;
+ goto out;
+ }
+
+ dev->udev = usb_get_dev(udev);
+ dev->type = id->driver_info;
+ dev->dev_no = -1;
+ usb_set_intfdata(interface, dev);
+
+ 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, MKDEV(0, 0),
+ dev, "servo%d", dev->dev_no);
+ if (IS_ERR(dev->dev)) {
+ rc = PTR_ERR(dev->dev);
+ dev->dev = NULL;
+ goto out;
+ }
+
+ 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",
+ servo_count, 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");
+
+ 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);
+
+ 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",
+ servo_count, dev->type & SERVO_VERSION_30 ? 3 : 2);
+
+ clear_bit(dev->dev_no, &device_no);
+ kfree(dev);
+}
+
+static struct usb_driver servo_driver = {
+ .name = "phidgetservo",
+ .probe = servo_probe,
+ .disconnect = servo_disconnect,
+ .id_table = id_table
+};
+
+static int __init
+phidget_servo_init(void)
+{
+ int retval;
+
+ retval = usb_register(&servo_driver);
+ if (retval)
+ err("usb_register failed. Error number %d", retval);
+
+ return retval;
+}
+
+static void __exit
+phidget_servo_exit(void)
+{
+ usb_deregister(&servo_driver);
+}
+
+module_init(phidget_servo_init);
+module_exit(phidget_servo_exit);
+
+MODULE_AUTHOR(DRIVER_AUTHOR);
+MODULE_DESCRIPTION(DRIVER_DESC);
+MODULE_LICENSE("GPL");
projects / kernel-power / blobdiff