drivers/usb/misc/phidgetservo.c

   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>
  29 #ifdef CONFIG_USB_DEBUG
  30 #define DEBUG   1
  31 #endif
  32 #include <linux/kernel.h>
  33 #include <linux/errno.h>
  34 #include <linux/init.h>
  35 #include <linux/slab.h>
  36 #include <linux/module.h>
  37 #include <linux/usb.h>
  38
  39 #define DRIVER_AUTHOR "Sean Young <sean@mess.org>"
  40 #define DRIVER_DESC "USB PhidgetServo Driver"
  41
  42 #define VENDOR_ID_GLAB                          0x06c2
  43 #define DEVICE_ID_GLAB_PHIDGETSERVO_QUAD        0x0038
  44 #define DEVICE_ID_GLAB_PHIDGETSERVO_UNI         0x0039
  45
  46 #define VENDOR_ID_WISEGROUP                     0x0925
  47 #define VENDOR_ID_WISEGROUP_PHIDGETSERVO_QUAD   0x8101
  48 #define VENDOR_ID_WISEGROUP_PHIDGETSERVO_UNI    0x8104
  49
  50 #define SERVO_VERSION_30                        0x01
  51 #define SERVO_COUNT_QUAD                        0x02
  52
  53 static struct usb_device_id id_table[] = {
  54         {
  55                 USB_DEVICE(VENDOR_ID_GLAB, DEVICE_ID_GLAB_PHIDGETSERVO_QUAD),
  56                 .driver_info = SERVO_VERSION_30 | SERVO_COUNT_QUAD
  57         },
  58         {
  59                 USB_DEVICE(VENDOR_ID_GLAB, DEVICE_ID_GLAB_PHIDGETSERVO_UNI),
  60                 .driver_info = SERVO_VERSION_30
  61         },
  62         {
  63                 USB_DEVICE(VENDOR_ID_WISEGROUP,
  64                                 VENDOR_ID_WISEGROUP_PHIDGETSERVO_QUAD),
  65                 .driver_info = SERVO_COUNT_QUAD
  66         },
  67         {
  68                 USB_DEVICE(VENDOR_ID_WISEGROUP,
  69                                 VENDOR_ID_WISEGROUP_PHIDGETSERVO_UNI),
  70                 .driver_info = 0
  71         },
  72         {}
  73 };
  74
  75 MODULE_DEVICE_TABLE(usb, id_table);
  76
  77 struct phidget_servo {
  78         struct usb_device *udev;
  79         ulong type;
  80         int pulse[4];
  81         int degrees[4];
  82         int minutes[4];
  83 };
  84
  85 static int
  86 change_position_v30(struct phidget_servo *servo, int servo_no, int degrees,
  87                                                                 int minutes)
  88 {
  89         int retval;
  90         unsigned char *buffer;
  91
  92         if (degrees < -23 || degrees > 362)
  93                 return -EINVAL;
  94
  95         buffer = kmalloc(6, GFP_KERNEL);
  96         if (!buffer) {
  97                 dev_err(&servo->udev->dev, "%s - out of memory\n",
  98                         __FUNCTION__);
  99                 return -ENOMEM;
 100         }
 101
 102         /*
 103          * pulse = 0 - 4095
 104          * angle = 0 - 180 degrees
 105          *
 106          * pulse = angle * 10.6 + 243.8
 107          */
 108         servo->pulse[servo_no] = ((degrees*60 + minutes)*106 + 2438*60)/600;
 109         servo->degrees[servo_no]= degrees;
 110         servo->minutes[servo_no]= minutes;
 111
 112         /*
 113          * The PhidgetServo v3.0 is controlled by sending 6 bytes,
 114          * 4 * 12 bits for each servo.
 115          *
 116          * low = lower 8 bits pulse
 117          * high = higher 4 bits pulse
 118          *
 119          * offset     bits
 120          * +---+-----------------+
 121          * | 0 |      low 0      |
 122          * +---+--------+--------+
 123          * | 1 | high 1 | high 0 |
 124          * +---+--------+--------+
 125          * | 2 |      low 1      |
 126          * +---+-----------------+
 127          * | 3 |      low 2      |
 128          * +---+--------+--------+
 129          * | 4 | high 3 | high 2 |
 130          * +---+--------+--------+
 131          * | 5 |      low 3      |
 132          * +---+-----------------+
 133          */
 134
 135         buffer[0] = servo->pulse[0] & 0xff;
 136         buffer[1] = (servo->pulse[0] >> 8 & 0x0f)
 137             | (servo->pulse[1] >> 4 & 0xf0);
 138         buffer[2] = servo->pulse[1] & 0xff;
 139         buffer[3] = servo->pulse[2] & 0xff;
 140         buffer[4] = (servo->pulse[2] >> 8 & 0x0f)
 141             | (servo->pulse[3] >> 4 & 0xf0);
 142         buffer[5] = servo->pulse[3] & 0xff;
 143
 144         dev_dbg(&servo->udev->dev,
 145                 "data: %02x %02x %02x %02x %02x %02x\n",
 146                 buffer[0], buffer[1], buffer[2],
 147                 buffer[3], buffer[4], buffer[5]);
 148
 149         retval = usb_control_msg(servo->udev,
 150                                  usb_sndctrlpipe(servo->udev, 0),
 151                                  0x09, 0x21, 0x0200, 0x0000, buffer, 6, 2000);
 152
 153         kfree(buffer);
 154
 155         return retval;
 156 }
 157
 158 static int
 159 change_position_v20(struct phidget_servo *servo, int servo_no, int degrees,
 160                                                                 int minutes)
 161 {
 162         int retval;
 163         unsigned char *buffer;
 164
 165         if (degrees < -23 || degrees > 278)
 166                 return -EINVAL;
 167
 168         buffer = kmalloc(2, GFP_KERNEL);
 169         if (!buffer) {
 170                 dev_err(&servo->udev->dev, "%s - out of memory\n",
 171                         __FUNCTION__);
 172                 return -ENOMEM;
 173         }
 174
 175         /*
 176          * angle = 0 - 180 degrees
 177          * pulse = angle + 23
 178          */
 179         servo->pulse[servo_no]= degrees + 23;
 180         servo->degrees[servo_no]= degrees;
 181         servo->minutes[servo_no]= 0;
 182
 183         /*
 184          * The PhidgetServo v2.0 is controlled by sending two bytes. The
 185          * first byte is the servo number xor'ed with 2:
 186          *
 187          * servo 0 = 2
 188          * servo 1 = 3
 189          * servo 2 = 0
 190          * servo 3 = 1
 191          *
 192          * The second byte is the position.
 193          */
 194
 195         buffer[0] = servo_no ^ 2;
 196         buffer[1] = servo->pulse[servo_no];
 197
 198         dev_dbg(&servo->udev->dev, "data: %02x %02x\n", buffer[0], buffer[1]);
 199
 200         retval = usb_control_msg(servo->udev,
 201                                  usb_sndctrlpipe(servo->udev, 0),
 202                                  0x09, 0x21, 0x0200, 0x0000, buffer, 2, 2000);
 203
 204         kfree(buffer);
 205
 206         return retval;
 207 }
 208
 209 #define show_set(value) \
 210 static ssize_t set_servo##value (struct device *dev,                    \
 211                                         const char *buf, size_t count)  \
 212 {                                                                       \
 213         int degrees, minutes, retval;                                   \
 214         struct usb_interface *intf = to_usb_interface (dev);            \
 215         struct phidget_servo *servo = usb_get_intfdata (intf);          \
 216                                                                         \
 217         minutes = 0;                                                    \
 218         /* must at least convert degrees */                             \
 219         if (sscanf (buf, "%d.%d", &degrees, &minutes) < 1) {            \
 220                 return -EINVAL;                                         \
 221         }                                                               \
 222                                                                         \
 223         if (minutes < 0 || minutes > 59)                                \
 224                 return -EINVAL;                                         \
 225                                                                         \
 226         if (servo->type & SERVO_VERSION_30)                             \
 227                 retval = change_position_v30 (servo, value, degrees,    \
 228                                                         minutes);       \
 229         else                                                            \
 230                 retval = change_position_v20 (servo, value, degrees,    \
 231                                                         minutes);       \
 232                                                                         \
 233         return retval < 0 ? retval : count;                             \
 234 }                                                                       \
 235                                                                         \
 236 static ssize_t show_servo##value (struct device *dev, char *buf)        \
 237 {                                                                       \
 238         struct usb_interface *intf = to_usb_interface (dev);            \
 239         struct phidget_servo *servo = usb_get_intfdata (intf);          \
 240                                                                         \
 241         return sprintf (buf, "%d.%02d\n", servo->degrees[value],        \
 242                                 servo->minutes[value]);                 \
 243 }                                                                       \
 244 static DEVICE_ATTR(servo##value, S_IWUGO | S_IRUGO,                     \
 245           show_servo##value, set_servo##value);
 246
 247 show_set(0);
 248 show_set(1);
 249 show_set(2);
 250 show_set(3);
 251
 252 static int
 253 servo_probe(struct usb_interface *interface, const struct usb_device_id *id)
 254 {
 255         struct usb_device *udev = interface_to_usbdev(interface);
 256         struct phidget_servo *dev;
 257
 258         dev = kmalloc(sizeof (struct phidget_servo), GFP_KERNEL);
 259         if (dev == NULL) {
 260                 dev_err(&interface->dev, "%s - out of memory\n", __FUNCTION__);
 261                 return -ENOMEM;
 262         }
 263         memset(dev, 0x00, sizeof (*dev));
 264
 265         dev->udev = usb_get_dev(udev);
 266         dev->type = id->driver_info;
 267         usb_set_intfdata(interface, dev);
 268
 269         device_create_file(&interface->dev, &dev_attr_servo0);
 270         if (dev->type & SERVO_COUNT_QUAD) {
 271                 device_create_file(&interface->dev, &dev_attr_servo1);
 272                 device_create_file(&interface->dev, &dev_attr_servo2);
 273                 device_create_file(&interface->dev, &dev_attr_servo3);
 274         }
 275
 276         dev_info(&interface->dev, "USB %d-Motor PhidgetServo v%d.0 attached\n",
 277                 dev->type & SERVO_COUNT_QUAD ? 4 : 1,
 278                 dev->type & SERVO_VERSION_30 ? 3 : 2);
 279
 280         if(!(dev->type & SERVO_VERSION_30))
 281                 dev_info(&interface->dev,
 282                          "WARNING: v2.0 not tested! Please report if it works.\n");
 283
 284         return 0;
 285 }
 286
 287 static void
 288 servo_disconnect(struct usb_interface *interface)
 289 {
 290         struct phidget_servo *dev;
 291
 292         dev = usb_get_intfdata(interface);
 293         usb_set_intfdata(interface, NULL);
 294
 295         device_remove_file(&interface->dev, &dev_attr_servo0);
 296         if (dev->type & SERVO_COUNT_QUAD) {
 297                 device_remove_file(&interface->dev, &dev_attr_servo1);
 298                 device_remove_file(&interface->dev, &dev_attr_servo2);
 299                 device_remove_file(&interface->dev, &dev_attr_servo3);
 300         }
 301
 302         usb_put_dev(dev->udev);
 303
 304         dev_info(&interface->dev, "USB %d-Motor PhidgetServo v%d.0 detached\n",
 305                 dev->type & SERVO_COUNT_QUAD ? 4 : 1,
 306                 dev->type & SERVO_VERSION_30 ? 3 : 2);
 307
 308         kfree(dev);
 309 }
 310
 311 static struct usb_driver servo_driver = {
 312         .owner = THIS_MODULE,
 313         .name = "phidgetservo",
 314         .probe = servo_probe,
 315         .disconnect = servo_disconnect,
 316         .id_table = id_table
 317 };
 318
 319 static int __init
 320 phidget_servo_init(void)
 321 {
 322         int retval;
 323
 324         retval = usb_register(&servo_driver);
 325         if (retval)
 326                 err("usb_register failed. Error number %d", retval);
 327
 328         return retval;
 329 }
 330
 331 static void __exit
 332 phidget_servo_exit(void)
 333 {
 334         usb_deregister(&servo_driver);
 335 }
 336
 337 module_init(phidget_servo_init);
 338 module_exit(phidget_servo_exit);
 339
 340 MODULE_AUTHOR(DRIVER_AUTHOR);
 341 MODULE_DESCRIPTION(DRIVER_DESC);
 342 MODULE_LICENSE("GPL");