From d5176b413dcce85334e270021fc0d723d1714c84 Mon Sep 17 00:00:00 2001 From: Sean Young Date: Sun, 9 Jul 2006 13:01:02 +0000 Subject: [PATCH] USB: Add driver for PhidgetMotorControl This driver add support for the Phidgets Inc., MotorControl via sysfs. Also some minor fixes for the InterfaceKit. Signed-off-by: Sean Young Signed-off-by: Greg Kroah-Hartman --- drivers/usb/input/hid-core.c | 12 +- drivers/usb/misc/Kconfig | 16 +- drivers/usb/misc/Makefile | 1 + drivers/usb/misc/phidgetmotorcontrol.c | 427 +++++++++++++++++++++++++ 4 files changed, 451 insertions(+), 5 deletions(-) create mode 100644 drivers/usb/misc/phidgetmotorcontrol.c diff --git a/drivers/usb/input/hid-core.c b/drivers/usb/input/hid-core.c index 3305fb6079eb..8f8d4af3f6ef 100644 --- a/drivers/usb/input/hid-core.c +++ b/drivers/usb/input/hid-core.c @@ -1535,13 +1535,17 @@ void hid_init_reports(struct hid_device *hid) #define USB_VENDOR_ID_GLAB 0x06c2 #define USB_DEVICE_ID_4_PHIDGETSERVO_30 0x0038 #define USB_DEVICE_ID_1_PHIDGETSERVO_30 0x0039 -#define USB_DEVICE_ID_8_8_8_IF_KIT 0x0045 #define USB_DEVICE_ID_0_0_4_IF_KIT 0x0040 +#define USB_DEVICE_ID_0_16_16_IF_KIT 0x0044 +#define USB_DEVICE_ID_8_8_8_IF_KIT 0x0045 +#define USB_DEVICE_ID_0_8_7_IF_KIT 0x0051 #define USB_DEVICE_ID_0_8_8_IF_KIT 0x0053 +#define USB_DEVICE_ID_PHIDGET_MOTORCONTROL 0x0058 #define USB_VENDOR_ID_WISEGROUP 0x0925 #define USB_DEVICE_ID_1_PHIDGETSERVO_20 0x8101 #define USB_DEVICE_ID_4_PHIDGETSERVO_20 0x8104 +#define USB_DEVICE_ID_8_8_4_IF_KIT 0x8201 #define USB_DEVICE_ID_DUAL_USB_JOYPAD 0x8866 #define USB_VENDOR_ID_WISEGROUP_LTD 0x6677 @@ -1620,9 +1624,12 @@ static const struct hid_blacklist { { USB_VENDOR_ID_ESSENTIAL_REALITY, USB_DEVICE_ID_ESSENTIAL_REALITY_P5, HID_QUIRK_IGNORE }, { USB_VENDOR_ID_GLAB, USB_DEVICE_ID_4_PHIDGETSERVO_30, HID_QUIRK_IGNORE }, { USB_VENDOR_ID_GLAB, USB_DEVICE_ID_1_PHIDGETSERVO_30, HID_QUIRK_IGNORE }, - { USB_VENDOR_ID_GLAB, USB_DEVICE_ID_8_8_8_IF_KIT, HID_QUIRK_IGNORE }, { USB_VENDOR_ID_GLAB, USB_DEVICE_ID_0_0_4_IF_KIT, HID_QUIRK_IGNORE }, + { USB_VENDOR_ID_GLAB, USB_DEVICE_ID_0_16_16_IF_KIT, HID_QUIRK_IGNORE }, + { USB_VENDOR_ID_GLAB, USB_DEVICE_ID_8_8_8_IF_KIT, HID_QUIRK_IGNORE }, + { USB_VENDOR_ID_GLAB, USB_DEVICE_ID_0_8_7_IF_KIT, HID_QUIRK_IGNORE }, { USB_VENDOR_ID_GLAB, USB_DEVICE_ID_0_8_8_IF_KIT, HID_QUIRK_IGNORE }, + { USB_VENDOR_ID_GLAB, USB_DEVICE_ID_PHIDGET_MOTORCONTROL, HID_QUIRK_IGNORE }, { USB_VENDOR_ID_GRIFFIN, USB_DEVICE_ID_POWERMATE, HID_QUIRK_IGNORE }, { USB_VENDOR_ID_GRIFFIN, USB_DEVICE_ID_SOUNDKNOB, HID_QUIRK_IGNORE }, { USB_VENDOR_ID_GTCO, USB_DEVICE_ID_GTCO_90, HID_QUIRK_IGNORE }, @@ -1701,6 +1708,7 @@ static const struct hid_blacklist { { USB_VENDOR_ID_VERNIER, USB_DEVICE_ID_VERNIER_CYCLOPS, HID_QUIRK_IGNORE }, { USB_VENDOR_ID_WISEGROUP, USB_DEVICE_ID_4_PHIDGETSERVO_20, HID_QUIRK_IGNORE }, { USB_VENDOR_ID_WISEGROUP, USB_DEVICE_ID_1_PHIDGETSERVO_20, HID_QUIRK_IGNORE }, + { USB_VENDOR_ID_WISEGROUP, USB_DEVICE_ID_8_8_4_IF_KIT, HID_QUIRK_IGNORE }, { USB_VENDOR_ID_YEALINK, USB_DEVICE_ID_YEALINK_P1K_P4K_B2K, HID_QUIRK_IGNORE }, { USB_VENDOR_ID_ACECAD, USB_DEVICE_ID_ACECAD_FLAIR, HID_QUIRK_IGNORE }, diff --git a/drivers/usb/misc/Kconfig b/drivers/usb/misc/Kconfig index 88928a4be805..8affc137d618 100644 --- a/drivers/usb/misc/Kconfig +++ b/drivers/usb/misc/Kconfig @@ -116,15 +116,25 @@ config USB_CYTHERM module will be called cytherm. config USB_PHIDGETKIT - tristate "USB PhidgetKit support" + tristate "USB PhidgetInterfaceKit support" depends on USB help - Say Y here if you want to connect a PhidgetKit USB device from - Phidgets Inc. + Say Y here if you want to connect a PhidgetInterfaceKit USB device + from Phidgets Inc. To compile this driver as a module, choose M here: the module will be called phidgetkit. +config USB_PHIDGETMOTORCONTROL + tristate "USB PhidgetMotorControl support" + depends on USB + help + Say Y here if you want to connect a PhidgetMotorControl USB device + from Phidgets Inc. + + To compile this driver as a module, choose M here: the + module will be called phidgetmotorcontrol. + config USB_PHIDGETSERVO tristate "USB PhidgetServo support" depends on USB diff --git a/drivers/usb/misc/Makefile b/drivers/usb/misc/Makefile index 2927260c5812..5f329176451a 100644 --- a/drivers/usb/misc/Makefile +++ b/drivers/usb/misc/Makefile @@ -14,6 +14,7 @@ obj-$(CONFIG_USB_LD) += ldusb.o obj-$(CONFIG_USB_LED) += usbled.o obj-$(CONFIG_USB_LEGOTOWER) += legousbtower.o obj-$(CONFIG_USB_PHIDGETKIT) += phidgetkit.o +obj-$(CONFIG_USB_PHIDGETMOTORCONTROL) += phidgetmotorcontrol.o obj-$(CONFIG_USB_PHIDGETSERVO) += phidgetservo.o obj-$(CONFIG_USB_RIO500) += rio500.o obj-$(CONFIG_USB_TEST) += usbtest.o diff --git a/drivers/usb/misc/phidgetmotorcontrol.c b/drivers/usb/misc/phidgetmotorcontrol.c new file mode 100644 index 000000000000..2972dc2eb27f --- /dev/null +++ b/drivers/usb/misc/phidgetmotorcontrol.c @@ -0,0 +1,427 @@ +/* + * USB Phidget MotorControl driver + * + * Copyright (C) 2006 Sean Young + * + * 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. + */ + +#include +#include +#include +#include +#include + +#define DRIVER_AUTHOR "Sean Young " +#define DRIVER_DESC "USB PhidgetMotorControl Driver" + +#define USB_VENDOR_ID_GLAB 0x06c2 +#define USB_DEVICE_ID_MOTORCONTROL 0x0058 + +#define URB_INT_SIZE 8 + +struct motorcontrol { + struct usb_device *udev; + struct usb_interface *intf; + u8 inputs[4]; + s8 desired_speed[2]; + s8 speed[2]; + s16 _current[2]; + s8 acceleration[2]; + struct urb *irq; + unsigned char *data; + dma_addr_t data_dma; + + struct work_struct do_notify; + unsigned long input_events; + unsigned long speed_events; + unsigned long exceed_events; +}; + +static struct usb_device_id id_table[] = { + { USB_DEVICE(USB_VENDOR_ID_GLAB, USB_DEVICE_ID_MOTORCONTROL) }, + {} +}; +MODULE_DEVICE_TABLE(usb, id_table); + +static int set_motor(struct motorcontrol *mc, int motor) +{ + u8 *buffer; + int speed, speed2, acceleration; + int retval; + + buffer = kzalloc(8, GFP_KERNEL); + if (!buffer) { + dev_err(&mc->intf->dev, "%s - out of memory\n", __FUNCTION__); + return -ENOMEM; + } + + acceleration = mc->acceleration[motor] * 10; + /* -127 <= speed <= 127 */ + speed = (mc->desired_speed[motor] * 127) / 100; + /* -0x7300 <= speed2 <= 0x7300 */ + speed2 = (mc->desired_speed[motor] * 230 * 128) / 100; + + buffer[0] = motor; + buffer[1] = speed; + buffer[2] = acceleration >> 8; + buffer[3] = acceleration; + buffer[4] = speed2 >> 8; + buffer[5] = speed2; + + retval = usb_control_msg(mc->udev, + usb_sndctrlpipe(mc->udev, 0), + 0x09, 0x21, 0x0200, 0x0000, buffer, 8, 2000); + + if (retval != 8) + dev_err(&mc->intf->dev, "usb_control_msg returned %d\n", + retval); + kfree(buffer); + + return retval < 0 ? retval : 0; +} + +static void motorcontrol_irq(struct urb *urb, struct pt_regs *regs) +{ + struct motorcontrol *mc = urb->context; + unsigned char *buffer = mc->data; + int i, level; + int status; + + switch (urb->status) { + case 0: /* success */ + break; + case -ECONNRESET: /* unlink */ + case -ENOENT: + case -ESHUTDOWN: + return; + /* -EPIPE: should clear the halt */ + default: /* error */ + goto resubmit; + } + + /* digital inputs */ + for (i=0; i<4; i++) { + level = (buffer[0] >> i) & 1; + if (mc->inputs[i] != level) { + mc->inputs[i] = level; + set_bit(i, &mc->input_events); + } + } + + /* motor speed */ + if (buffer[2] == 0) { + for (i=0; i<2; i++) { + level = ((s8)buffer[4+i]) * 100 / 127; + if (mc->speed[i] != level) { + mc->speed[i] = level; + set_bit(i, &mc->speed_events); + } + } + } else { + int index = buffer[3] & 1; + + level = ((s8)buffer[4] << 8) | buffer[5]; + level = level * 100 / 29440; + if (mc->speed[index] != level) { + mc->speed[index] = level; + set_bit(index, &mc->speed_events); + } + + level = ((s8)buffer[6] << 8) | buffer[7]; + mc->_current[index] = level * 100 / 1572; + } + + if (buffer[1] & 1) + set_bit(0, &mc->exceed_events); + + if (buffer[1] & 2) + set_bit(1, &mc->exceed_events); + + if (mc->input_events || mc->exceed_events || mc->speed_events) + schedule_work(&mc->do_notify); + +resubmit: + status = usb_submit_urb(urb, SLAB_ATOMIC); + if (status) + dev_err(&mc->intf->dev, + "can't resubmit intr, %s-%s/motorcontrol0, status %d", + mc->udev->bus->bus_name, + mc->udev->devpath, status); +} + +static void do_notify(void *data) +{ + struct motorcontrol *mc = data; + int i; + char sysfs_file[8]; + + for (i=0; i<4; i++) { + if (test_and_clear_bit(i, &mc->input_events)) { + sprintf(sysfs_file, "input%d", i); + sysfs_notify(&mc->intf->dev.kobj, NULL, sysfs_file); + } + } + + for (i=0; i<2; i++) { + if (test_and_clear_bit(i, &mc->speed_events)) { + sprintf(sysfs_file, "speed%d", i); + sysfs_notify(&mc->intf->dev.kobj, NULL, sysfs_file); + } + } + + for (i=0; i<2; i++) { + if (test_and_clear_bit(i, &mc->exceed_events)) + dev_warn(&mc->intf->dev, + "motor #%d exceeds 1.5 Amp current limit\n", i); + } +} + +#define show_set_speed(value) \ +static ssize_t set_speed##value(struct device *dev, \ + struct device_attribute *attr, const char *buf, size_t count) \ +{ \ + struct usb_interface *intf = to_usb_interface(dev); \ + struct motorcontrol *mc = usb_get_intfdata(intf); \ + int speed; \ + int retval; \ + \ + if (sscanf(buf, "%d", &speed) < 1) \ + return -EINVAL; \ + \ + if (speed < -100 || speed > 100) \ + return -EINVAL; \ + \ + mc->desired_speed[value] = speed; \ + \ + retval = set_motor(mc, value); \ + \ + return retval ? retval : count; \ +} \ + \ +static ssize_t show_speed##value(struct device *dev, \ + struct device_attribute *attr, char *buf) \ +{ \ + struct usb_interface *intf = to_usb_interface(dev); \ + struct motorcontrol *mc = usb_get_intfdata(intf); \ + \ + return sprintf(buf, "%d\n", mc->speed[value]); \ +} \ +static DEVICE_ATTR(speed##value, S_IWUGO | S_IRUGO, \ + show_speed##value, set_speed##value); +show_set_speed(0); +show_set_speed(1); + +#define show_set_acceleration(value) \ +static ssize_t set_acceleration##value(struct device *dev, \ + struct device_attribute *attr, const char *buf, size_t count) \ +{ \ + struct usb_interface *intf = to_usb_interface(dev); \ + struct motorcontrol *mc = usb_get_intfdata(intf); \ + int acceleration; \ + int retval; \ + \ + if (sscanf(buf, "%d", &acceleration) < 1) \ + return -EINVAL; \ + \ + if (acceleration < 0 || acceleration > 100) \ + return -EINVAL; \ + \ + mc->acceleration[value] = acceleration; \ + \ + retval = set_motor(mc, value); \ + \ + return retval ? retval : count; \ +} \ + \ +static ssize_t show_acceleration##value(struct device *dev, \ + struct device_attribute *attr, char *buf) \ +{ \ + struct usb_interface *intf = to_usb_interface(dev); \ + struct motorcontrol *mc = usb_get_intfdata(intf); \ + \ + return sprintf(buf, "%d\n", mc->acceleration[value]); \ +} \ +static DEVICE_ATTR(acceleration##value, S_IWUGO | S_IRUGO, \ + show_acceleration##value, set_acceleration##value); +show_set_acceleration(0); +show_set_acceleration(1); + +#define show_current(value) \ +static ssize_t show_current##value(struct device *dev, \ + struct device_attribute *attr, char *buf) \ +{ \ + struct usb_interface *intf = to_usb_interface(dev); \ + struct motorcontrol *mc = usb_get_intfdata(intf); \ + \ + return sprintf(buf, "%dmA\n", (int)mc->_current[value]); \ +} \ +static DEVICE_ATTR(current##value, S_IRUGO, show_current##value, NULL); + +show_current(0); +show_current(1); + +#define show_input(value) \ +static ssize_t show_input##value(struct device *dev, \ + struct device_attribute *attr, char *buf) \ +{ \ + struct usb_interface *intf = to_usb_interface(dev); \ + struct motorcontrol *mc = usb_get_intfdata(intf); \ + \ + return sprintf(buf, "%d\n", (int)mc->inputs[value]); \ +} \ +static DEVICE_ATTR(input##value, S_IRUGO, show_input##value, NULL); + +show_input(0); +show_input(1); +show_input(2); +show_input(3); + +static int motorcontrol_probe(struct usb_interface *intf, const struct usb_device_id *id) +{ + struct usb_device *dev = interface_to_usbdev(intf); + struct usb_host_interface *interface; + struct usb_endpoint_descriptor *endpoint; + struct motorcontrol *mc; + int pipe, maxp, rc = -ENOMEM; + + interface = intf->cur_altsetting; + if (interface->desc.bNumEndpoints != 1) + return -ENODEV; + + endpoint = &interface->endpoint[0].desc; + if (!(endpoint->bEndpointAddress & 0x80)) + return -ENODEV; + + /* + * bmAttributes + */ + pipe = usb_rcvintpipe(dev, endpoint->bEndpointAddress); + maxp = usb_maxpacket(dev, pipe, usb_pipeout(pipe)); + + mc = kzalloc(sizeof(*mc), GFP_KERNEL); + if (!mc) + goto out; + + mc->data = usb_buffer_alloc(dev, URB_INT_SIZE, SLAB_ATOMIC, &mc->data_dma); + if (!mc->data) + goto out; + + mc->irq = usb_alloc_urb(0, GFP_KERNEL); + if (!mc->irq) + goto out; + + mc->udev = usb_get_dev(dev); + mc->intf = intf; + mc->acceleration[0] = mc->acceleration[1] = 10; + INIT_WORK(&mc->do_notify, do_notify, mc); + usb_fill_int_urb(mc->irq, mc->udev, pipe, mc->data, + maxp > URB_INT_SIZE ? URB_INT_SIZE : maxp, + motorcontrol_irq, mc, endpoint->bInterval); + mc->irq->transfer_dma = mc->data_dma; + mc->irq->transfer_flags |= URB_NO_TRANSFER_DMA_MAP; + + usb_set_intfdata(intf, mc); + + if (usb_submit_urb(mc->irq, GFP_KERNEL)) { + rc = -EIO; + goto out; + } + + device_create_file(&intf->dev, &dev_attr_input0); + device_create_file(&intf->dev, &dev_attr_input1); + device_create_file(&intf->dev, &dev_attr_input2); + device_create_file(&intf->dev, &dev_attr_input3); + + device_create_file(&intf->dev, &dev_attr_speed0); + device_create_file(&intf->dev, &dev_attr_speed1); + + device_create_file(&intf->dev, &dev_attr_acceleration0); + device_create_file(&intf->dev, &dev_attr_acceleration1); + + device_create_file(&intf->dev, &dev_attr_current0); + device_create_file(&intf->dev, &dev_attr_current1); + + dev_info(&intf->dev, "USB Phidget MotorControl attached\n"); + + return 0; + +out: + if (mc) { + if (mc->irq) + usb_free_urb(mc->irq); + if (mc->data) + usb_buffer_free(dev, URB_INT_SIZE, mc->data, mc->data_dma); + kfree(mc); + } + + return rc; +} + +static void motorcontrol_disconnect(struct usb_interface *interface) +{ + struct motorcontrol *mc; + + mc = usb_get_intfdata(interface); + usb_set_intfdata(interface, NULL); + if (!mc) + return; + + usb_kill_urb(mc->irq); + usb_free_urb(mc->irq); + usb_buffer_free(mc->udev, URB_INT_SIZE, mc->data, mc->data_dma); + + cancel_delayed_work(&mc->do_notify); + + device_remove_file(&interface->dev, &dev_attr_input0); + device_remove_file(&interface->dev, &dev_attr_input1); + device_remove_file(&interface->dev, &dev_attr_input2); + device_remove_file(&interface->dev, &dev_attr_input3); + + device_remove_file(&interface->dev, &dev_attr_speed0); + device_remove_file(&interface->dev, &dev_attr_speed1); + + device_remove_file(&interface->dev, &dev_attr_acceleration0); + device_remove_file(&interface->dev, &dev_attr_acceleration1); + + device_remove_file(&interface->dev, &dev_attr_current0); + device_remove_file(&interface->dev, &dev_attr_current1); + + dev_info(&interface->dev, "USB Phidget MotorControl disconnected\n"); + + usb_put_dev(mc->udev); + kfree(mc); +} + +static struct usb_driver motorcontrol_driver = { + .name = "phidgetmotorcontrol", + .probe = motorcontrol_probe, + .disconnect = motorcontrol_disconnect, + .id_table = id_table +}; + +static int __init motorcontrol_init(void) +{ + int retval = 0; + + retval = usb_register(&motorcontrol_driver); + if (retval) + err("usb_register failed. Error number %d", retval); + + return retval; +} + +static void __exit motorcontrol_exit(void) +{ + usb_deregister(&motorcontrol_driver); +} + +module_init(motorcontrol_init); +module_exit(motorcontrol_exit); + +MODULE_AUTHOR(DRIVER_AUTHOR); +MODULE_DESCRIPTION(DRIVER_DESC); +MODULE_LICENSE("GPL"); -- 2.20.1