drivers/usb/misc/phidgetmotorcontrol.c

   1 /*
   2  * USB Phidget MotorControl driver
   3  *
   4  * Copyright (C) 2006  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
  12 #include <linux/kernel.h>
  13 #include <linux/errno.h>
  14 #include <linux/init.h>
  15 #include <linux/module.h>
  16 #include <linux/usb.h>
  17
  18 #include "phidget.h"
  19
  20 #define DRIVER_AUTHOR "Sean Young <sean@mess.org>"
  21 #define DRIVER_DESC "USB PhidgetMotorControl Driver"
  22
  23 #define USB_VENDOR_ID_GLAB              0x06c2
  24 #define USB_DEVICE_ID_MOTORCONTROL      0x0058
  25
  26 #define URB_INT_SIZE                    8
  27
  28 static unsigned long device_no;
  29
  30 struct motorcontrol {
  31         struct usb_device *udev;
  32         struct usb_interface *intf;
  33         struct device *dev;
  34         int dev_no;
  35         u8 inputs[4];
  36         s8 desired_speed[2];
  37         s8 speed[2];
  38         s16 _current[2];
  39         s8 acceleration[2];
  40         struct urb *irq;
  41         unsigned char *data;
  42         dma_addr_t data_dma;
  43
  44         struct delayed_work do_notify;
  45         unsigned long input_events;
  46         unsigned long speed_events;
  47         unsigned long exceed_events;
  48 };
  49
  50 static struct usb_device_id id_table[] = {
  51         { USB_DEVICE(USB_VENDOR_ID_GLAB, USB_DEVICE_ID_MOTORCONTROL) },
  52         {}
  53 };
  54 MODULE_DEVICE_TABLE(usb, id_table);
  55
  56 static int set_motor(struct motorcontrol *mc, int motor)
  57 {
  58         u8 *buffer;
  59         int speed, speed2, acceleration;
  60         int retval;
  61
  62         buffer = kzalloc(8, GFP_KERNEL);
  63         if (!buffer) {
  64                 dev_err(&mc->intf->dev, "%s - out of memory\n", __func__);
  65                 return -ENOMEM;
  66         }
  67
  68         acceleration = mc->acceleration[motor] * 10;
  69         /* -127 <= speed <= 127 */
  70         speed = (mc->desired_speed[motor] * 127) / 100;
  71         /* -0x7300 <= speed2 <= 0x7300 */
  72         speed2 = (mc->desired_speed[motor] * 230 * 128) / 100;
  73
  74         buffer[0] = motor;
  75         buffer[1] = speed;
  76         buffer[2] = acceleration >> 8;
  77         buffer[3] = acceleration;
  78         buffer[4] = speed2 >> 8;
  79         buffer[5] = speed2;
  80
  81         retval = usb_control_msg(mc->udev,
  82                          usb_sndctrlpipe(mc->udev, 0),
  83                          0x09, 0x21, 0x0200, 0x0000, buffer, 8, 2000);
  84
  85         if (retval != 8)
  86                 dev_err(&mc->intf->dev, "usb_control_msg returned %d\n",
  87                                 retval);
  88         kfree(buffer);
  89
  90         return retval < 0 ? retval : 0;
  91 }
  92
  93 static void motorcontrol_irq(struct urb *urb)
  94 {
  95         struct motorcontrol *mc = urb->context;
  96         unsigned char *buffer = mc->data;
  97         int i, level;
  98         int retval;
  99         int status = urb->status;;
 100
 101         switch (status) {
 102         case 0:                 /* success */
 103                 break;
 104         case -ECONNRESET:       /* unlink */
 105         case -ENOENT:
 106         case -ESHUTDOWN:
 107                 return;
 108         /* -EPIPE:  should clear the halt */
 109         default:                /* error */
 110                 goto resubmit;
 111         }
 112
 113         /* digital inputs */
 114         for (i=0; i<4; i++) {
 115                 level = (buffer[0] >> i) & 1;
 116                 if (mc->inputs[i] != level) {
 117                         mc->inputs[i] = level;
 118                         set_bit(i, &mc->input_events);
 119                 }
 120         }
 121
 122         /* motor speed */
 123         if (buffer[2] == 0) {
 124                 for (i=0; i<2; i++) {
 125                 level = ((s8)buffer[4+i]) * 100 / 127;
 126                         if (mc->speed[i] != level) {
 127                                 mc->speed[i] = level;
 128                                 set_bit(i, &mc->speed_events);
 129                         }
 130                 }
 131         } else {
 132                 int index = buffer[3] & 1;
 133
 134                 level = ((s8)buffer[4] << 8) | buffer[5];
 135                 level = level * 100 / 29440;
 136                 if (mc->speed[index] != level) {
 137                         mc->speed[index] = level;
 138                         set_bit(index, &mc->speed_events);
 139                 }
 140
 141                 level = ((s8)buffer[6] << 8) | buffer[7];
 142                 mc->_current[index] = level * 100 / 1572;
 143         }
 144
 145         if (buffer[1] & 1)
 146                 set_bit(0, &mc->exceed_events);
 147
 148         if (buffer[1] & 2)
 149                 set_bit(1, &mc->exceed_events);
 150
 151         if (mc->input_events || mc->exceed_events || mc->speed_events)
 152                 schedule_delayed_work(&mc->do_notify, 0);
 153
 154 resubmit:
 155         retval = usb_submit_urb(urb, GFP_ATOMIC);
 156         if (retval)
 157                 dev_err(&mc->intf->dev,
 158                         "can't resubmit intr, %s-%s/motorcontrol0, retval %d\n",
 159                         mc->udev->bus->bus_name,
 160                         mc->udev->devpath, retval);
 161 }
 162
 163 static void do_notify(struct work_struct *work)
 164 {
 165         struct motorcontrol *mc =
 166                 container_of(work, struct motorcontrol, do_notify.work);
 167         int i;
 168         char sysfs_file[8];
 169
 170         for (i=0; i<4; i++) {
 171                 if (test_and_clear_bit(i, &mc->input_events)) {
 172                         sprintf(sysfs_file, "input%d", i);
 173                         sysfs_notify(&mc->dev->kobj, NULL, sysfs_file);
 174                 }
 175         }
 176
 177         for (i=0; i<2; i++) {
 178                 if (test_and_clear_bit(i, &mc->speed_events)) {
 179                         sprintf(sysfs_file, "speed%d", i);
 180                         sysfs_notify(&mc->dev->kobj, NULL, sysfs_file);
 181                 }
 182         }
 183
 184         for (i=0; i<2; i++) {
 185                 if (test_and_clear_bit(i, &mc->exceed_events))
 186                         dev_warn(&mc->intf->dev,
 187                                 "motor #%d exceeds 1.5 Amp current limit\n", i);
 188         }
 189 }
 190
 191 #define show_set_speed(value)           \
 192 static ssize_t set_speed##value(struct device *dev,                     \
 193                                         struct device_attribute *attr,  \
 194                                         const char *buf, size_t count)  \
 195 {                                                                       \
 196         struct motorcontrol *mc = dev_get_drvdata(dev);                 \
 197         int speed;                                                      \
 198         int retval;                                                     \
 199                                                                         \
 200         if (sscanf(buf, "%d", &speed) < 1)                              \
 201                 return -EINVAL;                                         \
 202                                                                         \
 203         if (speed < -100 || speed > 100)                                \
 204                 return -EINVAL;                                         \
 205                                                                         \
 206         mc->desired_speed[value] = speed;                               \
 207                                                                         \
 208         retval = set_motor(mc, value);                                  \
 209                                                                         \
 210         return retval ? retval : count;                                 \
 211 }                                                                       \
 212                                                                         \
 213 static ssize_t show_speed##value(struct device *dev,                    \
 214                                         struct device_attribute *attr,  \
 215                                         char *buf)                      \
 216 {                                                                       \
 217         struct motorcontrol *mc = dev_get_drvdata(dev);                 \
 218                                                                         \
 219         return sprintf(buf, "%d\n", mc->speed[value]);                  \
 220 }
 221
 222 #define speed_attr(value)                                               \
 223         __ATTR(speed##value, S_IWUGO | S_IRUGO,                         \
 224                 show_speed##value, set_speed##value)
 225
 226 show_set_speed(0);
 227 show_set_speed(1);
 228
 229 #define show_set_acceleration(value)            \
 230 static ssize_t set_acceleration##value(struct device *dev,              \
 231                                         struct device_attribute *attr,  \
 232                                         const char *buf, size_t count)  \
 233 {                                                                       \
 234         struct motorcontrol *mc = dev_get_drvdata(dev);                 \
 235         int acceleration;                                               \
 236         int retval;                                                     \
 237                                                                         \
 238         if (sscanf(buf, "%d", &acceleration) < 1)                       \
 239                 return -EINVAL;                                         \
 240                                                                         \
 241         if (acceleration < 0 || acceleration > 100)                     \
 242                 return -EINVAL;                                         \
 243                                                                         \
 244         mc->acceleration[value] = acceleration;                         \
 245                                                                         \
 246         retval = set_motor(mc, value);                                  \
 247                                                                         \
 248         return retval ? retval : count;                                 \
 249 }                                                                       \
 250                                                                         \
 251 static ssize_t show_acceleration##value(struct device *dev,             \
 252                                         struct device_attribute *attr,  \
 253                                                         char *buf)      \
 254 {                                                                       \
 255         struct motorcontrol *mc = dev_get_drvdata(dev);                 \
 256                                                                         \
 257         return sprintf(buf, "%d\n", mc->acceleration[value]);           \
 258 }
 259
 260 #define acceleration_attr(value)        \
 261         __ATTR(acceleration##value, S_IWUGO | S_IRUGO,                  \
 262                 show_acceleration##value, set_acceleration##value)
 263
 264 show_set_acceleration(0);
 265 show_set_acceleration(1);
 266
 267 #define show_current(value)     \
 268 static ssize_t show_current##value(struct device *dev,                  \
 269                                         struct device_attribute *attr,  \
 270                                         char *buf)                      \
 271 {                                                                       \
 272         struct motorcontrol *mc = dev_get_drvdata(dev);                 \
 273                                                                         \
 274         return sprintf(buf, "%dmA\n", (int)mc->_current[value]);        \
 275 }
 276
 277 #define current_attr(value)     \
 278         __ATTR(current##value, S_IRUGO, show_current##value, NULL)
 279
 280 show_current(0);
 281 show_current(1);
 282
 283 #define show_input(value)       \
 284 static ssize_t show_input##value(struct device *dev,                    \
 285                                         struct device_attribute *attr,  \
 286                                         char *buf)                      \
 287 {                                                                       \
 288         struct motorcontrol *mc = dev_get_drvdata(dev);                 \
 289                                                                         \
 290         return sprintf(buf, "%d\n", (int)mc->inputs[value]);            \
 291 }
 292
 293 #define input_attr(value)       \
 294         __ATTR(input##value, S_IRUGO, show_input##value, NULL)
 295
 296 show_input(0);
 297 show_input(1);
 298 show_input(2);
 299 show_input(3);
 300
 301 static struct device_attribute dev_attrs[] = {
 302         input_attr(0),
 303         input_attr(1),
 304         input_attr(2),
 305         input_attr(3),
 306         speed_attr(0),
 307         speed_attr(1),
 308         acceleration_attr(0),
 309         acceleration_attr(1),
 310         current_attr(0),
 311         current_attr(1)
 312 };
 313
 314 static int motorcontrol_probe(struct usb_interface *intf, const struct usb_device_id *id)
 315 {
 316         struct usb_device *dev = interface_to_usbdev(intf);
 317         struct usb_host_interface *interface;
 318         struct usb_endpoint_descriptor *endpoint;
 319         struct motorcontrol *mc;
 320         int pipe, maxp, rc = -ENOMEM;
 321         int bit, value, i;
 322
 323         interface = intf->cur_altsetting;
 324         if (interface->desc.bNumEndpoints != 1)
 325                 return -ENODEV;
 326
 327         endpoint = &interface->endpoint[0].desc;
 328         if (!usb_endpoint_dir_in(endpoint))
 329                 return -ENODEV;
 330
 331         /*
 332          * bmAttributes
 333          */
 334         pipe = usb_rcvintpipe(dev, endpoint->bEndpointAddress);
 335         maxp = usb_maxpacket(dev, pipe, usb_pipeout(pipe));
 336
 337         mc = kzalloc(sizeof(*mc), GFP_KERNEL);
 338         if (!mc)
 339                 goto out;
 340
 341         mc->dev_no = -1;
 342         mc->data = usb_buffer_alloc(dev, URB_INT_SIZE, GFP_ATOMIC, &mc->data_dma);
 343         if (!mc->data)
 344                 goto out;
 345
 346         mc->irq = usb_alloc_urb(0, GFP_KERNEL);
 347         if (!mc->irq)
 348                 goto out;
 349
 350         mc->udev = usb_get_dev(dev);
 351         mc->intf = intf;
 352         mc->acceleration[0] = mc->acceleration[1] = 10;
 353         INIT_DELAYED_WORK(&mc->do_notify, do_notify);
 354         usb_fill_int_urb(mc->irq, mc->udev, pipe, mc->data,
 355                         maxp > URB_INT_SIZE ? URB_INT_SIZE : maxp,
 356                         motorcontrol_irq, mc, endpoint->bInterval);
 357         mc->irq->transfer_dma = mc->data_dma;
 358         mc->irq->transfer_flags |= URB_NO_TRANSFER_DMA_MAP;
 359
 360         usb_set_intfdata(intf, mc);
 361
 362         do {
 363                 bit = find_first_zero_bit(&device_no, sizeof(device_no));
 364                 value = test_and_set_bit(bit, &device_no);
 365         } while(value);
 366         mc->dev_no = bit;
 367
 368         mc->dev = device_create_drvdata(phidget_class, &mc->udev->dev,
 369                                         MKDEV(0, 0), mc,
 370                                         "motorcontrol%d", mc->dev_no);
 371         if (IS_ERR(mc->dev)) {
 372                 rc = PTR_ERR(mc->dev);
 373                 mc->dev = NULL;
 374                 goto out;
 375         }
 376
 377         if (usb_submit_urb(mc->irq, GFP_KERNEL)) {
 378                 rc = -EIO;
 379                 goto out;
 380         }
 381
 382         for (i=0; i<ARRAY_SIZE(dev_attrs); i++) {
 383                 rc = device_create_file(mc->dev, &dev_attrs[i]);
 384                 if (rc)
 385                         goto out2;
 386         }
 387
 388         dev_info(&intf->dev, "USB PhidgetMotorControl attached\n");
 389
 390         return 0;
 391 out2:
 392         while (i-- > 0)
 393                 device_remove_file(mc->dev, &dev_attrs[i]);
 394 out:
 395         if (mc) {
 396                 usb_free_urb(mc->irq);
 397                 if (mc->data)
 398                         usb_buffer_free(dev, URB_INT_SIZE, mc->data, mc->data_dma);
 399                 if (mc->dev)
 400                         device_unregister(mc->dev);
 401                 if (mc->dev_no >= 0)
 402                         clear_bit(mc->dev_no, &device_no);
 403
 404                 kfree(mc);
 405         }
 406
 407         return rc;
 408 }
 409
 410 static void motorcontrol_disconnect(struct usb_interface *interface)
 411 {
 412         struct motorcontrol *mc;
 413         int i;
 414
 415         mc = usb_get_intfdata(interface);
 416         usb_set_intfdata(interface, NULL);
 417         if (!mc)
 418                 return;
 419
 420         usb_kill_urb(mc->irq);
 421         usb_free_urb(mc->irq);
 422         usb_buffer_free(mc->udev, URB_INT_SIZE, mc->data, mc->data_dma);
 423
 424         cancel_delayed_work(&mc->do_notify);
 425
 426         for (i=0; i<ARRAY_SIZE(dev_attrs); i++)
 427                 device_remove_file(mc->dev, &dev_attrs[i]);
 428
 429         device_unregister(mc->dev);
 430
 431         usb_put_dev(mc->udev);
 432         clear_bit(mc->dev_no, &device_no);
 433         kfree(mc);
 434
 435         dev_info(&interface->dev, "USB PhidgetMotorControl detached\n");
 436 }
 437
 438 static struct usb_driver motorcontrol_driver = {
 439         .name = "phidgetmotorcontrol",
 440         .probe = motorcontrol_probe,
 441         .disconnect = motorcontrol_disconnect,
 442         .id_table = id_table
 443 };
 444
 445 static int __init motorcontrol_init(void)
 446 {
 447         int retval = 0;
 448
 449         retval = usb_register(&motorcontrol_driver);
 450         if (retval)
 451                 err("usb_register failed. Error number %d", retval);
 452
 453         return retval;
 454 }
 455
 456 static void __exit motorcontrol_exit(void)
 457 {
 458         usb_deregister(&motorcontrol_driver);
 459 }
 460
 461 module_init(motorcontrol_init);
 462 module_exit(motorcontrol_exit);
 463
 464 MODULE_AUTHOR(DRIVER_AUTHOR);
 465 MODULE_DESCRIPTION(DRIVER_DESC);
 466 MODULE_LICENSE("GPL");