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 #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) \
 207 static ssize_t set_servo##value (struct device *dev, struct device_attribute *attr,                     \
 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", &degrees, &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                                                                         \
 233 static ssize_t show_servo##value (struct device *dev, struct device_attribute *attr, char *buf)         \
 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
 255         dev = kmalloc(sizeof (struct phidget_servo), GFP_KERNEL);
 256         if (dev == NULL) {
 257                 dev_err(&interface->dev, "%s - out of memory\n", __FUNCTION__);
 258                 return -ENOMEM;
 259         }
 260         memset(dev, 0x00, sizeof (*dev));
 261
 262         dev->udev = usb_get_dev(udev);
 263         dev->type = id->driver_info;
 264         usb_set_intfdata(interface, dev);
 265
 266         device_create_file(&interface->dev, &dev_attr_servo0);
 267         if (dev->type & SERVO_COUNT_QUAD) {
 268                 device_create_file(&interface->dev, &dev_attr_servo1);
 269                 device_create_file(&interface->dev, &dev_attr_servo2);
 270                 device_create_file(&interface->dev, &dev_attr_servo3);
 271         }
 272
 273         dev_info(&interface->dev, "USB %d-Motor PhidgetServo v%d.0 attached\n",
 274                 dev->type & SERVO_COUNT_QUAD ? 4 : 1,
 275                 dev->type & SERVO_VERSION_30 ? 3 : 2);
 276
 277         if(!(dev->type & SERVO_VERSION_30))
 278                 dev_info(&interface->dev,
 279                          "WARNING: v2.0 not tested! Please report if it works.\n");
 280
 281         return 0;
 282 }
 283
 284 static void
 285 servo_disconnect(struct usb_interface *interface)
 286 {
 287         struct phidget_servo *dev;
 288
 289         dev = usb_get_intfdata(interface);
 290         usb_set_intfdata(interface, NULL);
 291
 292         device_remove_file(&interface->dev, &dev_attr_servo0);
 293         if (dev->type & SERVO_COUNT_QUAD) {
 294                 device_remove_file(&interface->dev, &dev_attr_servo1);
 295                 device_remove_file(&interface->dev, &dev_attr_servo2);
 296                 device_remove_file(&interface->dev, &dev_attr_servo3);
 297         }
 298
 299         usb_put_dev(dev->udev);
 300
 301         dev_info(&interface->dev, "USB %d-Motor PhidgetServo v%d.0 detached\n",
 302                 dev->type & SERVO_COUNT_QUAD ? 4 : 1,
 303                 dev->type & SERVO_VERSION_30 ? 3 : 2);
 304
 305         kfree(dev);
 306 }
 307
 308 static struct usb_driver servo_driver = {
 309         .name = "phidgetservo",
 310         .probe = servo_probe,
 311         .disconnect = servo_disconnect,
 312         .id_table = id_table
 313 };
 314
 315 static int __init
 316 phidget_servo_init(void)
 317 {
 318         int retval;
 319
 320         retval = usb_register(&servo_driver);
 321         if (retval)
 322                 err("usb_register failed. Error number %d", retval);
 323
 324         return retval;
 325 }
 326
 327 static void __exit
 328 phidget_servo_exit(void)
 329 {
 330         usb_deregister(&servo_driver);
 331 }
 332
 333 module_init(phidget_servo_init);
 334 module_exit(phidget_servo_exit);
 335
 336 MODULE_AUTHOR(DRIVER_AUTHOR);
 337 MODULE_DESCRIPTION(DRIVER_DESC);
 338 MODULE_LICENSE("GPL");