Linus Torvalds | 1da177e | 2005-04-16 15:20:36 -0700 | [diff] [blame] | 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/config.h> |
Linus Torvalds | 1da177e | 2005-04-16 15:20:36 -0700 | [diff] [blame] | 29 | #include <linux/kernel.h> |
| 30 | #include <linux/errno.h> |
| 31 | #include <linux/init.h> |
| 32 | #include <linux/slab.h> |
| 33 | #include <linux/module.h> |
| 34 | #include <linux/usb.h> |
| 35 | |
| 36 | #define DRIVER_AUTHOR "Sean Young <sean@mess.org>" |
| 37 | #define DRIVER_DESC "USB PhidgetServo Driver" |
| 38 | |
| 39 | #define VENDOR_ID_GLAB 0x06c2 |
| 40 | #define DEVICE_ID_GLAB_PHIDGETSERVO_QUAD 0x0038 |
| 41 | #define DEVICE_ID_GLAB_PHIDGETSERVO_UNI 0x0039 |
| 42 | |
| 43 | #define VENDOR_ID_WISEGROUP 0x0925 |
| 44 | #define VENDOR_ID_WISEGROUP_PHIDGETSERVO_QUAD 0x8101 |
| 45 | #define VENDOR_ID_WISEGROUP_PHIDGETSERVO_UNI 0x8104 |
| 46 | |
| 47 | #define SERVO_VERSION_30 0x01 |
| 48 | #define SERVO_COUNT_QUAD 0x02 |
| 49 | |
| 50 | static struct usb_device_id id_table[] = { |
| 51 | { |
| 52 | USB_DEVICE(VENDOR_ID_GLAB, DEVICE_ID_GLAB_PHIDGETSERVO_QUAD), |
| 53 | .driver_info = SERVO_VERSION_30 | SERVO_COUNT_QUAD |
| 54 | }, |
| 55 | { |
| 56 | USB_DEVICE(VENDOR_ID_GLAB, DEVICE_ID_GLAB_PHIDGETSERVO_UNI), |
| 57 | .driver_info = SERVO_VERSION_30 |
| 58 | }, |
| 59 | { |
| 60 | USB_DEVICE(VENDOR_ID_WISEGROUP, |
| 61 | VENDOR_ID_WISEGROUP_PHIDGETSERVO_QUAD), |
| 62 | .driver_info = SERVO_COUNT_QUAD |
| 63 | }, |
| 64 | { |
| 65 | USB_DEVICE(VENDOR_ID_WISEGROUP, |
| 66 | VENDOR_ID_WISEGROUP_PHIDGETSERVO_UNI), |
| 67 | .driver_info = 0 |
| 68 | }, |
| 69 | {} |
| 70 | }; |
| 71 | |
| 72 | MODULE_DEVICE_TABLE(usb, id_table); |
| 73 | |
| 74 | struct phidget_servo { |
| 75 | struct usb_device *udev; |
| 76 | ulong type; |
| 77 | int pulse[4]; |
| 78 | int degrees[4]; |
| 79 | int minutes[4]; |
| 80 | }; |
| 81 | |
| 82 | static int |
| 83 | change_position_v30(struct phidget_servo *servo, int servo_no, int degrees, |
| 84 | int minutes) |
| 85 | { |
| 86 | int retval; |
| 87 | unsigned char *buffer; |
| 88 | |
| 89 | if (degrees < -23 || degrees > 362) |
| 90 | return -EINVAL; |
| 91 | |
| 92 | buffer = kmalloc(6, GFP_KERNEL); |
| 93 | if (!buffer) { |
| 94 | dev_err(&servo->udev->dev, "%s - out of memory\n", |
| 95 | __FUNCTION__); |
| 96 | return -ENOMEM; |
| 97 | } |
| 98 | |
| 99 | /* |
| 100 | * pulse = 0 - 4095 |
| 101 | * angle = 0 - 180 degrees |
| 102 | * |
| 103 | * pulse = angle * 10.6 + 243.8 |
| 104 | */ |
| 105 | servo->pulse[servo_no] = ((degrees*60 + minutes)*106 + 2438*60)/600; |
| 106 | servo->degrees[servo_no]= degrees; |
| 107 | servo->minutes[servo_no]= minutes; |
| 108 | |
| 109 | /* |
| 110 | * The PhidgetServo v3.0 is controlled by sending 6 bytes, |
| 111 | * 4 * 12 bits for each servo. |
| 112 | * |
| 113 | * low = lower 8 bits pulse |
| 114 | * high = higher 4 bits pulse |
| 115 | * |
| 116 | * offset bits |
| 117 | * +---+-----------------+ |
| 118 | * | 0 | low 0 | |
| 119 | * +---+--------+--------+ |
| 120 | * | 1 | high 1 | high 0 | |
| 121 | * +---+--------+--------+ |
| 122 | * | 2 | low 1 | |
| 123 | * +---+-----------------+ |
| 124 | * | 3 | low 2 | |
| 125 | * +---+--------+--------+ |
| 126 | * | 4 | high 3 | high 2 | |
| 127 | * +---+--------+--------+ |
| 128 | * | 5 | low 3 | |
| 129 | * +---+-----------------+ |
| 130 | */ |
| 131 | |
| 132 | buffer[0] = servo->pulse[0] & 0xff; |
| 133 | buffer[1] = (servo->pulse[0] >> 8 & 0x0f) |
| 134 | | (servo->pulse[1] >> 4 & 0xf0); |
| 135 | buffer[2] = servo->pulse[1] & 0xff; |
| 136 | buffer[3] = servo->pulse[2] & 0xff; |
| 137 | buffer[4] = (servo->pulse[2] >> 8 & 0x0f) |
| 138 | | (servo->pulse[3] >> 4 & 0xf0); |
| 139 | buffer[5] = servo->pulse[3] & 0xff; |
| 140 | |
| 141 | dev_dbg(&servo->udev->dev, |
| 142 | "data: %02x %02x %02x %02x %02x %02x\n", |
| 143 | buffer[0], buffer[1], buffer[2], |
| 144 | buffer[3], buffer[4], buffer[5]); |
| 145 | |
| 146 | retval = usb_control_msg(servo->udev, |
| 147 | usb_sndctrlpipe(servo->udev, 0), |
| 148 | 0x09, 0x21, 0x0200, 0x0000, buffer, 6, 2000); |
| 149 | |
| 150 | kfree(buffer); |
| 151 | |
| 152 | return retval; |
| 153 | } |
| 154 | |
| 155 | static int |
| 156 | change_position_v20(struct phidget_servo *servo, int servo_no, int degrees, |
| 157 | int minutes) |
| 158 | { |
| 159 | int retval; |
| 160 | unsigned char *buffer; |
| 161 | |
| 162 | if (degrees < -23 || degrees > 278) |
| 163 | return -EINVAL; |
| 164 | |
| 165 | buffer = kmalloc(2, GFP_KERNEL); |
| 166 | if (!buffer) { |
| 167 | dev_err(&servo->udev->dev, "%s - out of memory\n", |
| 168 | __FUNCTION__); |
| 169 | return -ENOMEM; |
| 170 | } |
| 171 | |
| 172 | /* |
| 173 | * angle = 0 - 180 degrees |
| 174 | * pulse = angle + 23 |
| 175 | */ |
| 176 | servo->pulse[servo_no]= degrees + 23; |
| 177 | servo->degrees[servo_no]= degrees; |
| 178 | servo->minutes[servo_no]= 0; |
| 179 | |
| 180 | /* |
| 181 | * The PhidgetServo v2.0 is controlled by sending two bytes. The |
| 182 | * first byte is the servo number xor'ed with 2: |
| 183 | * |
| 184 | * servo 0 = 2 |
| 185 | * servo 1 = 3 |
| 186 | * servo 2 = 0 |
| 187 | * servo 3 = 1 |
| 188 | * |
| 189 | * The second byte is the position. |
| 190 | */ |
| 191 | |
| 192 | buffer[0] = servo_no ^ 2; |
| 193 | buffer[1] = servo->pulse[servo_no]; |
| 194 | |
| 195 | dev_dbg(&servo->udev->dev, "data: %02x %02x\n", buffer[0], buffer[1]); |
| 196 | |
| 197 | retval = usb_control_msg(servo->udev, |
| 198 | usb_sndctrlpipe(servo->udev, 0), |
| 199 | 0x09, 0x21, 0x0200, 0x0000, buffer, 2, 2000); |
| 200 | |
| 201 | kfree(buffer); |
| 202 | |
| 203 | return retval; |
| 204 | } |
| 205 | |
| 206 | #define show_set(value) \ |
Yani Ioannou | 060b884 | 2005-05-17 06:44:04 -0400 | [diff] [blame] | 207 | static ssize_t set_servo##value (struct device *dev, struct device_attribute *attr, \ |
Linus Torvalds | 1da177e | 2005-04-16 15:20:36 -0700 | [diff] [blame] | 208 | const char *buf, size_t count) \ |
| 209 | { \ |
| 210 | int degrees, minutes, retval; \ |
| 211 | struct usb_interface *intf = to_usb_interface (dev); \ |
| 212 | struct phidget_servo *servo = usb_get_intfdata (intf); \ |
| 213 | \ |
| 214 | minutes = 0; \ |
| 215 | /* must at least convert degrees */ \ |
| 216 | if (sscanf (buf, "%d.%d", °rees, &minutes) < 1) { \ |
| 217 | return -EINVAL; \ |
| 218 | } \ |
| 219 | \ |
| 220 | if (minutes < 0 || minutes > 59) \ |
| 221 | return -EINVAL; \ |
| 222 | \ |
| 223 | if (servo->type & SERVO_VERSION_30) \ |
| 224 | retval = change_position_v30 (servo, value, degrees, \ |
| 225 | minutes); \ |
| 226 | else \ |
| 227 | retval = change_position_v20 (servo, value, degrees, \ |
| 228 | minutes); \ |
| 229 | \ |
| 230 | return retval < 0 ? retval : count; \ |
| 231 | } \ |
| 232 | \ |
Yani Ioannou | 060b884 | 2005-05-17 06:44:04 -0400 | [diff] [blame] | 233 | static ssize_t show_servo##value (struct device *dev, struct device_attribute *attr, char *buf) \ |
Linus Torvalds | 1da177e | 2005-04-16 15:20:36 -0700 | [diff] [blame] | 234 | { \ |
| 235 | struct usb_interface *intf = to_usb_interface (dev); \ |
| 236 | struct phidget_servo *servo = usb_get_intfdata (intf); \ |
| 237 | \ |
| 238 | return sprintf (buf, "%d.%02d\n", servo->degrees[value], \ |
| 239 | servo->minutes[value]); \ |
| 240 | } \ |
| 241 | static DEVICE_ATTR(servo##value, S_IWUGO | S_IRUGO, \ |
| 242 | show_servo##value, set_servo##value); |
| 243 | |
| 244 | show_set(0); |
| 245 | show_set(1); |
| 246 | show_set(2); |
| 247 | show_set(3); |
| 248 | |
| 249 | static int |
| 250 | servo_probe(struct usb_interface *interface, const struct usb_device_id *id) |
| 251 | { |
| 252 | struct usb_device *udev = interface_to_usbdev(interface); |
| 253 | struct phidget_servo *dev; |
| 254 | |
Oliver Neukum | d874a2b | 2006-01-06 22:43:32 +0100 | [diff] [blame^] | 255 | dev = kzalloc(sizeof (struct phidget_servo), GFP_KERNEL); |
Linus Torvalds | 1da177e | 2005-04-16 15:20:36 -0700 | [diff] [blame] | 256 | if (dev == NULL) { |
| 257 | dev_err(&interface->dev, "%s - out of memory\n", __FUNCTION__); |
| 258 | return -ENOMEM; |
| 259 | } |
Linus Torvalds | 1da177e | 2005-04-16 15:20:36 -0700 | [diff] [blame] | 260 | |
| 261 | dev->udev = usb_get_dev(udev); |
| 262 | dev->type = id->driver_info; |
| 263 | usb_set_intfdata(interface, dev); |
| 264 | |
| 265 | device_create_file(&interface->dev, &dev_attr_servo0); |
| 266 | if (dev->type & SERVO_COUNT_QUAD) { |
| 267 | device_create_file(&interface->dev, &dev_attr_servo1); |
| 268 | device_create_file(&interface->dev, &dev_attr_servo2); |
| 269 | device_create_file(&interface->dev, &dev_attr_servo3); |
| 270 | } |
| 271 | |
| 272 | dev_info(&interface->dev, "USB %d-Motor PhidgetServo v%d.0 attached\n", |
| 273 | dev->type & SERVO_COUNT_QUAD ? 4 : 1, |
| 274 | dev->type & SERVO_VERSION_30 ? 3 : 2); |
| 275 | |
| 276 | if(!(dev->type & SERVO_VERSION_30)) |
| 277 | dev_info(&interface->dev, |
| 278 | "WARNING: v2.0 not tested! Please report if it works.\n"); |
| 279 | |
| 280 | return 0; |
| 281 | } |
| 282 | |
| 283 | static void |
| 284 | servo_disconnect(struct usb_interface *interface) |
| 285 | { |
| 286 | struct phidget_servo *dev; |
| 287 | |
| 288 | dev = usb_get_intfdata(interface); |
| 289 | usb_set_intfdata(interface, NULL); |
| 290 | |
| 291 | device_remove_file(&interface->dev, &dev_attr_servo0); |
| 292 | if (dev->type & SERVO_COUNT_QUAD) { |
| 293 | device_remove_file(&interface->dev, &dev_attr_servo1); |
| 294 | device_remove_file(&interface->dev, &dev_attr_servo2); |
| 295 | device_remove_file(&interface->dev, &dev_attr_servo3); |
| 296 | } |
| 297 | |
| 298 | usb_put_dev(dev->udev); |
| 299 | |
| 300 | dev_info(&interface->dev, "USB %d-Motor PhidgetServo v%d.0 detached\n", |
| 301 | dev->type & SERVO_COUNT_QUAD ? 4 : 1, |
| 302 | dev->type & SERVO_VERSION_30 ? 3 : 2); |
| 303 | |
| 304 | kfree(dev); |
| 305 | } |
| 306 | |
| 307 | static struct usb_driver servo_driver = { |
Linus Torvalds | 1da177e | 2005-04-16 15:20:36 -0700 | [diff] [blame] | 308 | .name = "phidgetservo", |
| 309 | .probe = servo_probe, |
| 310 | .disconnect = servo_disconnect, |
| 311 | .id_table = id_table |
| 312 | }; |
| 313 | |
| 314 | static int __init |
| 315 | phidget_servo_init(void) |
| 316 | { |
| 317 | int retval; |
| 318 | |
| 319 | retval = usb_register(&servo_driver); |
| 320 | if (retval) |
| 321 | err("usb_register failed. Error number %d", retval); |
| 322 | |
| 323 | return retval; |
| 324 | } |
| 325 | |
| 326 | static void __exit |
| 327 | phidget_servo_exit(void) |
| 328 | { |
| 329 | usb_deregister(&servo_driver); |
| 330 | } |
| 331 | |
| 332 | module_init(phidget_servo_init); |
| 333 | module_exit(phidget_servo_exit); |
| 334 | |
| 335 | MODULE_AUTHOR(DRIVER_AUTHOR); |
| 336 | MODULE_DESCRIPTION(DRIVER_DESC); |
| 337 | MODULE_LICENSE("GPL"); |