343 lines
8.5 KiB
C
343 lines
8.5 KiB
C
/*
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* USB PhidgetServo driver 1.0
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*
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* Copyright (C) 2004 Sean Young <sean@mess.org>
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This is a driver for the USB PhidgetServo version 2.0 and 3.0 servo
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* controllers available at: http://www.phidgets.com/
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*
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* Note that the driver takes input as: degrees.minutes
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*
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* CAUTION: Generally you should use 0 < degrees < 180 as anything else
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* is probably beyond the range of your servo and may damage it.
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*
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* Jun 16, 2004: Sean Young <sean@mess.org>
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* - cleanups
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* - was using memory after kfree()
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* Aug 8, 2004: Sean Young <sean@mess.org>
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* - set the highest angle as high as the hardware allows, there are
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* some odd servos out there
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*
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*/
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#include <linux/config.h>
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#ifdef CONFIG_USB_DEBUG
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#define DEBUG 1
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#endif
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#include <linux/kernel.h>
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#include <linux/errno.h>
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#include <linux/init.h>
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#include <linux/slab.h>
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#include <linux/module.h>
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#include <linux/usb.h>
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#define DRIVER_AUTHOR "Sean Young <sean@mess.org>"
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#define DRIVER_DESC "USB PhidgetServo Driver"
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#define VENDOR_ID_GLAB 0x06c2
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#define DEVICE_ID_GLAB_PHIDGETSERVO_QUAD 0x0038
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#define DEVICE_ID_GLAB_PHIDGETSERVO_UNI 0x0039
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#define VENDOR_ID_WISEGROUP 0x0925
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#define VENDOR_ID_WISEGROUP_PHIDGETSERVO_QUAD 0x8101
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#define VENDOR_ID_WISEGROUP_PHIDGETSERVO_UNI 0x8104
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#define SERVO_VERSION_30 0x01
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#define SERVO_COUNT_QUAD 0x02
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static struct usb_device_id id_table[] = {
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{
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USB_DEVICE(VENDOR_ID_GLAB, DEVICE_ID_GLAB_PHIDGETSERVO_QUAD),
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.driver_info = SERVO_VERSION_30 | SERVO_COUNT_QUAD
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},
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{
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USB_DEVICE(VENDOR_ID_GLAB, DEVICE_ID_GLAB_PHIDGETSERVO_UNI),
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.driver_info = SERVO_VERSION_30
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},
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{
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USB_DEVICE(VENDOR_ID_WISEGROUP,
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VENDOR_ID_WISEGROUP_PHIDGETSERVO_QUAD),
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.driver_info = SERVO_COUNT_QUAD
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},
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{
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USB_DEVICE(VENDOR_ID_WISEGROUP,
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VENDOR_ID_WISEGROUP_PHIDGETSERVO_UNI),
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.driver_info = 0
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},
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{}
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};
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MODULE_DEVICE_TABLE(usb, id_table);
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struct phidget_servo {
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struct usb_device *udev;
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ulong type;
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int pulse[4];
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int degrees[4];
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int minutes[4];
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};
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static int
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change_position_v30(struct phidget_servo *servo, int servo_no, int degrees,
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int minutes)
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{
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int retval;
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unsigned char *buffer;
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if (degrees < -23 || degrees > 362)
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return -EINVAL;
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buffer = kmalloc(6, GFP_KERNEL);
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if (!buffer) {
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dev_err(&servo->udev->dev, "%s - out of memory\n",
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__FUNCTION__);
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return -ENOMEM;
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}
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/*
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* pulse = 0 - 4095
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* angle = 0 - 180 degrees
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*
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* pulse = angle * 10.6 + 243.8
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*/
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servo->pulse[servo_no] = ((degrees*60 + minutes)*106 + 2438*60)/600;
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servo->degrees[servo_no]= degrees;
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servo->minutes[servo_no]= minutes;
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/*
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* The PhidgetServo v3.0 is controlled by sending 6 bytes,
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* 4 * 12 bits for each servo.
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*
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* low = lower 8 bits pulse
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* high = higher 4 bits pulse
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*
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* offset bits
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* +---+-----------------+
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* | 0 | low 0 |
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* +---+--------+--------+
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* | 1 | high 1 | high 0 |
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* +---+--------+--------+
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* | 2 | low 1 |
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* +---+-----------------+
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* | 3 | low 2 |
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* +---+--------+--------+
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* | 4 | high 3 | high 2 |
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* +---+--------+--------+
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* | 5 | low 3 |
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* +---+-----------------+
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*/
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buffer[0] = servo->pulse[0] & 0xff;
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buffer[1] = (servo->pulse[0] >> 8 & 0x0f)
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| (servo->pulse[1] >> 4 & 0xf0);
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buffer[2] = servo->pulse[1] & 0xff;
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buffer[3] = servo->pulse[2] & 0xff;
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buffer[4] = (servo->pulse[2] >> 8 & 0x0f)
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| (servo->pulse[3] >> 4 & 0xf0);
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buffer[5] = servo->pulse[3] & 0xff;
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dev_dbg(&servo->udev->dev,
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"data: %02x %02x %02x %02x %02x %02x\n",
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buffer[0], buffer[1], buffer[2],
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buffer[3], buffer[4], buffer[5]);
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retval = usb_control_msg(servo->udev,
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usb_sndctrlpipe(servo->udev, 0),
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0x09, 0x21, 0x0200, 0x0000, buffer, 6, 2000);
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kfree(buffer);
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return retval;
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}
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static int
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change_position_v20(struct phidget_servo *servo, int servo_no, int degrees,
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int minutes)
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{
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int retval;
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unsigned char *buffer;
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if (degrees < -23 || degrees > 278)
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return -EINVAL;
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buffer = kmalloc(2, GFP_KERNEL);
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if (!buffer) {
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dev_err(&servo->udev->dev, "%s - out of memory\n",
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__FUNCTION__);
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return -ENOMEM;
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}
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/*
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* angle = 0 - 180 degrees
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* pulse = angle + 23
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*/
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servo->pulse[servo_no]= degrees + 23;
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servo->degrees[servo_no]= degrees;
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servo->minutes[servo_no]= 0;
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/*
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* The PhidgetServo v2.0 is controlled by sending two bytes. The
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* first byte is the servo number xor'ed with 2:
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*
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* servo 0 = 2
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* servo 1 = 3
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* servo 2 = 0
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* servo 3 = 1
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*
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* The second byte is the position.
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*/
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buffer[0] = servo_no ^ 2;
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buffer[1] = servo->pulse[servo_no];
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dev_dbg(&servo->udev->dev, "data: %02x %02x\n", buffer[0], buffer[1]);
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retval = usb_control_msg(servo->udev,
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usb_sndctrlpipe(servo->udev, 0),
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0x09, 0x21, 0x0200, 0x0000, buffer, 2, 2000);
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kfree(buffer);
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return retval;
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}
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#define show_set(value) \
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static ssize_t set_servo##value (struct device *dev, struct device_attribute *attr, \
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const char *buf, size_t count) \
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{ \
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int degrees, minutes, retval; \
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struct usb_interface *intf = to_usb_interface (dev); \
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struct phidget_servo *servo = usb_get_intfdata (intf); \
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\
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minutes = 0; \
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/* must at least convert degrees */ \
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if (sscanf (buf, "%d.%d", °rees, &minutes) < 1) { \
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return -EINVAL; \
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} \
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\
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if (minutes < 0 || minutes > 59) \
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return -EINVAL; \
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\
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if (servo->type & SERVO_VERSION_30) \
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retval = change_position_v30 (servo, value, degrees, \
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minutes); \
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else \
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retval = change_position_v20 (servo, value, degrees, \
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minutes); \
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\
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return retval < 0 ? retval : count; \
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} \
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\
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static ssize_t show_servo##value (struct device *dev, struct device_attribute *attr, char *buf) \
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{ \
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struct usb_interface *intf = to_usb_interface (dev); \
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struct phidget_servo *servo = usb_get_intfdata (intf); \
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\
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return sprintf (buf, "%d.%02d\n", servo->degrees[value], \
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servo->minutes[value]); \
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} \
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static DEVICE_ATTR(servo##value, S_IWUGO | S_IRUGO, \
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show_servo##value, set_servo##value);
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show_set(0);
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show_set(1);
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show_set(2);
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show_set(3);
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static int
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servo_probe(struct usb_interface *interface, const struct usb_device_id *id)
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{
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struct usb_device *udev = interface_to_usbdev(interface);
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struct phidget_servo *dev;
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dev = kmalloc(sizeof (struct phidget_servo), GFP_KERNEL);
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if (dev == NULL) {
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dev_err(&interface->dev, "%s - out of memory\n", __FUNCTION__);
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return -ENOMEM;
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}
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memset(dev, 0x00, sizeof (*dev));
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dev->udev = usb_get_dev(udev);
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dev->type = id->driver_info;
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usb_set_intfdata(interface, dev);
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device_create_file(&interface->dev, &dev_attr_servo0);
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if (dev->type & SERVO_COUNT_QUAD) {
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device_create_file(&interface->dev, &dev_attr_servo1);
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device_create_file(&interface->dev, &dev_attr_servo2);
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device_create_file(&interface->dev, &dev_attr_servo3);
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}
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dev_info(&interface->dev, "USB %d-Motor PhidgetServo v%d.0 attached\n",
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dev->type & SERVO_COUNT_QUAD ? 4 : 1,
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dev->type & SERVO_VERSION_30 ? 3 : 2);
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if(!(dev->type & SERVO_VERSION_30))
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dev_info(&interface->dev,
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"WARNING: v2.0 not tested! Please report if it works.\n");
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return 0;
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}
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static void
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servo_disconnect(struct usb_interface *interface)
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{
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struct phidget_servo *dev;
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dev = usb_get_intfdata(interface);
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usb_set_intfdata(interface, NULL);
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device_remove_file(&interface->dev, &dev_attr_servo0);
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if (dev->type & SERVO_COUNT_QUAD) {
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device_remove_file(&interface->dev, &dev_attr_servo1);
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device_remove_file(&interface->dev, &dev_attr_servo2);
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device_remove_file(&interface->dev, &dev_attr_servo3);
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}
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usb_put_dev(dev->udev);
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dev_info(&interface->dev, "USB %d-Motor PhidgetServo v%d.0 detached\n",
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dev->type & SERVO_COUNT_QUAD ? 4 : 1,
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dev->type & SERVO_VERSION_30 ? 3 : 2);
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kfree(dev);
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}
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static struct usb_driver servo_driver = {
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.owner = THIS_MODULE,
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.name = "phidgetservo",
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.probe = servo_probe,
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.disconnect = servo_disconnect,
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.id_table = id_table
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};
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static int __init
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phidget_servo_init(void)
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{
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int retval;
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retval = usb_register(&servo_driver);
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if (retval)
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err("usb_register failed. Error number %d", retval);
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return retval;
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}
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static void __exit
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phidget_servo_exit(void)
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{
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usb_deregister(&servo_driver);
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}
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module_init(phidget_servo_init);
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module_exit(phidget_servo_exit);
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MODULE_AUTHOR(DRIVER_AUTHOR);
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MODULE_DESCRIPTION(DRIVER_DESC);
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MODULE_LICENSE("GPL");
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