drivers/usb/misc/phidgetservo.c - linux/kernel/git/torvalds/linux - Git at Google

 /*
  * USB PhidgetServo driver 1.0
  *
  * Copyright (C) 2004, 2006 Sean Young <sean@mess.org>
  *
  * 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.
  *
  * This is a driver for the USB PhidgetServo version 2.0 and 3.0 servo
  * controllers available at: http://www.phidgets.com/
  *
  * Note that the driver takes input as: degrees.minutes
  *
  * CAUTION: Generally you should use 0 < degrees < 180 as anything else
  * is probably beyond the range of your servo and may damage it.
  */

 #include <linux/kernel.h>
 #include <linux/errno.h>
 #include <linux/init.h>
 #include <linux/slab.h>
 #include <linux/module.h>
 #include <linux/usb.h>

 #include "phidget.h"

 #define DRIVER_AUTHOR "Sean Young <sean@mess.org>"
 #define DRIVER_DESC "USB PhidgetServo Driver"

 #define VENDOR_ID_GLAB				0x06c2
 #define DEVICE_ID_GLAB_PHIDGETSERVO_QUAD	0x0038
 #define DEVICE_ID_GLAB_PHIDGETSERVO_UNI		0x0039

 #define VENDOR_ID_WISEGROUP			0x0925
 #define VENDOR_ID_WISEGROUP_PHIDGETSERVO_QUAD	0x8101
 #define VENDOR_ID_WISEGROUP_PHIDGETSERVO_UNI	0x8104

 #define SERVO_VERSION_30			0x01
 #define SERVO_COUNT_QUAD			0x02

 static struct usb_device_id id_table[] = {
 	{
 		USB_DEVICE(VENDOR_ID_GLAB, DEVICE_ID_GLAB_PHIDGETSERVO_QUAD),
 		.driver_info = SERVO_VERSION_30 | SERVO_COUNT_QUAD
 	},
 	{
 		USB_DEVICE(VENDOR_ID_GLAB, DEVICE_ID_GLAB_PHIDGETSERVO_UNI),
 		.driver_info = SERVO_VERSION_30
 	},
 	{
 		USB_DEVICE(VENDOR_ID_WISEGROUP,
 				VENDOR_ID_WISEGROUP_PHIDGETSERVO_QUAD),
 		.driver_info = SERVO_COUNT_QUAD
 	},
 	{
 		USB_DEVICE(VENDOR_ID_WISEGROUP,
 				VENDOR_ID_WISEGROUP_PHIDGETSERVO_UNI),
 		.driver_info = 0
 	},
 	{}
 };

 MODULE_DEVICE_TABLE(usb, id_table);

 static int unsigned long device_no;

 struct phidget_servo {
 	struct usb_device *udev;
 	struct device *dev;
 	int dev_no;
 	ulong type;
 	int pulse[4];
 	int degrees[4];
 	int minutes[4];
 };

 static int
 change_position_v30(struct phidget_servo *servo, int servo_no, int degrees,
 								int minutes)
 {
 	int retval;
 	unsigned char *buffer;

 	if (degrees < -23 || degrees > 362)
 		return -EINVAL;

 	buffer = kmalloc(6, GFP_KERNEL);
 	if (!buffer) {
 		dev_err(&servo->udev->dev, "%s - out of memory\n",
 			__FUNCTION__);
 		return -ENOMEM;
 	}

 	/*
 	 * pulse = 0 - 4095
 	 * angle = 0 - 180 degrees
 	 *
 	 * pulse = angle * 10.6 + 243.8
 	 */
 	servo->pulse[servo_no] = ((degrees*60 + minutes)*106 + 2438*60)/600;
 	servo->degrees[servo_no]= degrees;
 	servo->minutes[servo_no]= minutes;

 	/*
 	 * The PhidgetServo v3.0 is controlled by sending 6 bytes,
 	 * 4 * 12 bits for each servo.
 	 *
 	 * low = lower 8 bits pulse
 	 * high = higher 4 bits pulse
 	 *
 	 * offset     bits
 	 * +---+-----------------+
 	 * | 0 |      low 0      |
 	 * +---+--------+--------+
 	 * | 1 | high 1 | high 0 |
 	 * +---+--------+--------+
 	 * | 2 |      low 1      |
 	 * +---+-----------------+
 	 * | 3 |      low 2      |
 	 * +---+--------+--------+
 	 * | 4 | high 3 | high 2 |
 	 * +---+--------+--------+
 	 * | 5 |      low 3      |
 	 * +---+-----------------+
 	 */

 	buffer[0] = servo->pulse[0] & 0xff;
 	buffer[1] = (servo->pulse[0] >> 8 & 0x0f)
 	    | (servo->pulse[1] >> 4 & 0xf0);
 	buffer[2] = servo->pulse[1] & 0xff;
 	buffer[3] = servo->pulse[2] & 0xff;
 	buffer[4] = (servo->pulse[2] >> 8 & 0x0f)
 	    | (servo->pulse[3] >> 4 & 0xf0);
 	buffer[5] = servo->pulse[3] & 0xff;

 	dev_dbg(&servo->udev->dev,
 		"data: %02x %02x %02x %02x %02x %02x\n",
 		buffer[0], buffer[1], buffer[2],
 		buffer[3], buffer[4], buffer[5]);

 	retval = usb_control_msg(servo->udev,
 				 usb_sndctrlpipe(servo->udev, 0),
 				 0x09, 0x21, 0x0200, 0x0000, buffer, 6, 2000);

 	kfree(buffer);

 	return retval;
 }

 static int
 change_position_v20(struct phidget_servo *servo, int servo_no, int degrees,
 								int minutes)
 {
 	int retval;
 	unsigned char *buffer;

 	if (degrees < -23 || degrees > 278)
 		return -EINVAL;

 	buffer = kmalloc(2, GFP_KERNEL);
 	if (!buffer) {
 		dev_err(&servo->udev->dev, "%s - out of memory\n",
 			__FUNCTION__);
 		return -ENOMEM;
 	}

 	/*
 	 * angle = 0 - 180 degrees
 	 * pulse = angle + 23
 	 */
 	servo->pulse[servo_no]= degrees + 23;
 	servo->degrees[servo_no]= degrees;
 	servo->minutes[servo_no]= 0;

 	/*
 	 * The PhidgetServo v2.0 is controlled by sending two bytes. The
 	 * first byte is the servo number xor'ed with 2:
 	 *
 	 * servo 0 = 2
 	 * servo 1 = 3
 	 * servo 2 = 0
 	 * servo 3 = 1
 	 *
 	 * The second byte is the position.
 	 */

 	buffer[0] = servo_no ^ 2;
 	buffer[1] = servo->pulse[servo_no];

 	dev_dbg(&servo->udev->dev, "data: %02x %02x\n", buffer[0], buffer[1]);

 	retval = usb_control_msg(servo->udev,
 				 usb_sndctrlpipe(servo->udev, 0),
 				 0x09, 0x21, 0x0200, 0x0000, buffer, 2, 2000);

 	kfree(buffer);

 	return retval;
 }

 #define show_set(value)	\
 static ssize_t set_servo##value (struct device *dev, 			\
 					struct device_attribute *attr,	\
 					const char *buf, size_t count)	\
 {									\
 	int degrees, minutes, retval;					\
 	struct phidget_servo *servo = dev_get_drvdata(dev);		\
 									\
 	minutes = 0;							\
 	/* must at least convert degrees */				\
 	if (sscanf(buf, "%d.%d", &degrees, &minutes) < 1) {		\
 		return -EINVAL;						\
 	}								\
 									\
 	if (minutes < 0 || minutes > 59) 				\
 		return -EINVAL;						\
 									\
 	if (servo->type & SERVO_VERSION_30)				\
 		retval = change_position_v30(servo, value, degrees, 	\
 							minutes);	\
 	else 								\
 		retval = change_position_v20(servo, value, degrees, 	\
 							minutes);	\
 									\
 	return retval < 0 ? retval : count;				\
 }									\
 									\
 static ssize_t show_servo##value (struct device *dev,			\
 					struct device_attribute *attr,	\
 					char *buf) 			\
 {									\
 	struct phidget_servo *servo = dev_get_drvdata(dev);		\
 									\
 	return sprintf(buf, "%d.%02d\n", servo->degrees[value],		\
 				servo->minutes[value]);			\
 }

 #define servo_attr(value)						\
 	__ATTR(servo##value, S_IWUGO | S_IRUGO,				\
 		show_servo##value, set_servo##value)
 show_set(0);
 show_set(1);
 show_set(2);
 show_set(3);

 static struct device_attribute dev_attrs[] = {
 	servo_attr(0), servo_attr(1), servo_attr(2), servo_attr(3)
 };

 static int
 servo_probe(struct usb_interface *interface, const struct usb_device_id *id)
 {
 	struct usb_device *udev = interface_to_usbdev(interface);
 	struct phidget_servo *dev;
 	int bit, value, rc;
 	int servo_count, i;

 	dev = kzalloc(sizeof (struct phidget_servo), GFP_KERNEL);
 	if (dev == NULL) {
 		dev_err(&interface->dev, "%s - out of memory\n", __FUNCTION__);
 		rc = -ENOMEM;
 		goto out;
 	}

 	dev->udev = usb_get_dev(udev);
 	dev->type = id->driver_info;
 	dev->dev_no = -1;
 	usb_set_intfdata(interface, dev);

         do {
                 bit = find_first_zero_bit(&device_no, sizeof(device_no));
                 value = test_and_set_bit(bit, &device_no);
         } while (value);
 	dev->dev_no = bit;

 	dev->dev = device_create(phidget_class, &dev->udev->dev, 0,
 				 "servo%d", dev->dev_no);
 	if (IS_ERR(dev->dev)) {
 		rc = PTR_ERR(dev->dev);
 		dev->dev = NULL;
 		goto out;
 	}
 	dev_set_drvdata(dev->dev, dev);

 	servo_count = dev->type & SERVO_COUNT_QUAD ? 4 : 1;

 	for (i=0; i<servo_count; i++) {
 		rc = device_create_file(dev->dev, &dev_attrs[i]);
 		if (rc)
 			goto out2;
 	}

 	dev_info(&interface->dev, "USB %d-Motor PhidgetServo v%d.0 attached\n",
 		servo_count, dev->type & SERVO_VERSION_30 ? 3 : 2);

 	if (!(dev->type & SERVO_VERSION_30))
 		dev_info(&interface->dev,
 			 "WARNING: v2.0 not tested! Please report if it works.\n");

 	return 0;
 out2:
 	while (i-- > 0)
 		device_remove_file(dev->dev, &dev_attrs[i]);
 out:
 	if (dev) {
 		if (dev->dev)
 			device_unregister(dev->dev);
 		if (dev->dev_no >= 0)
 			clear_bit(dev->dev_no, &device_no);

 		kfree(dev);
 	}

 	return rc;
 }

 static void
 servo_disconnect(struct usb_interface *interface)
 {
 	struct phidget_servo *dev;
 	int servo_count, i;

 	dev = usb_get_intfdata(interface);
 	usb_set_intfdata(interface, NULL);

 	if (!dev)
 		return;

 	servo_count = dev->type & SERVO_COUNT_QUAD ? 4 : 1;

 	for (i=0; i<servo_count; i++)
 		device_remove_file(dev->dev, &dev_attrs[i]);

 	device_unregister(dev->dev);
 	usb_put_dev(dev->udev);

 	dev_info(&interface->dev, "USB %d-Motor PhidgetServo v%d.0 detached\n",
 		servo_count, dev->type & SERVO_VERSION_30 ? 3 : 2);

 	clear_bit(dev->dev_no, &device_no);
 	kfree(dev);
 }

 static struct usb_driver servo_driver = {
 	.name = "phidgetservo",
 	.probe = servo_probe,
 	.disconnect = servo_disconnect,
 	.id_table = id_table
 };

 static int __init
 phidget_servo_init(void)
 {
 	int retval;

 	retval = usb_register(&servo_driver);
 	if (retval)
 		err("usb_register failed. Error number %d", retval);

 	return retval;
 }

 static void __exit
 phidget_servo_exit(void)
 {
 	usb_deregister(&servo_driver);
 }

 module_init(phidget_servo_init);
 module_exit(phidget_servo_exit);

 MODULE_AUTHOR(DRIVER_AUTHOR);
 MODULE_DESCRIPTION(DRIVER_DESC);
 MODULE_LICENSE("GPL");
	/*
	* USB PhidgetServo driver 1.0
	*
	* Copyright (C) 2004, 2006 Sean Young <sean@mess.org>
	*
	* 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.
	*
	* This is a driver for the USB PhidgetServo version 2.0 and 3.0 servo
	* controllers available at: http://www.phidgets.com/
	*
	* Note that the driver takes input as: degrees.minutes
	*
	* CAUTION: Generally you should use 0 < degrees < 180 as anything else
	* is probably beyond the range of your servo and may damage it.
	*/

	#include <linux/kernel.h>
	#include <linux/errno.h>
	#include <linux/init.h>
	#include <linux/slab.h>
	#include <linux/module.h>
	#include <linux/usb.h>

	#include "phidget.h"

	#define DRIVER_AUTHOR "Sean Young <sean@mess.org>"
	#define DRIVER_DESC "USB PhidgetServo Driver"

	#define VENDOR_ID_GLAB 0x06c2
	#define DEVICE_ID_GLAB_PHIDGETSERVO_QUAD 0x0038
	#define DEVICE_ID_GLAB_PHIDGETSERVO_UNI 0x0039

	#define VENDOR_ID_WISEGROUP 0x0925
	#define VENDOR_ID_WISEGROUP_PHIDGETSERVO_QUAD 0x8101
	#define VENDOR_ID_WISEGROUP_PHIDGETSERVO_UNI 0x8104

	#define SERVO_VERSION_30 0x01
	#define SERVO_COUNT_QUAD 0x02

	static struct usb_device_id id_table[] = {
	{
	USB_DEVICE(VENDOR_ID_GLAB, DEVICE_ID_GLAB_PHIDGETSERVO_QUAD),
	.driver_info = SERVO_VERSION_30 \| SERVO_COUNT_QUAD
	},
	{
	USB_DEVICE(VENDOR_ID_GLAB, DEVICE_ID_GLAB_PHIDGETSERVO_UNI),
	.driver_info = SERVO_VERSION_30
	},
	{
	USB_DEVICE(VENDOR_ID_WISEGROUP,
	VENDOR_ID_WISEGROUP_PHIDGETSERVO_QUAD),
	.driver_info = SERVO_COUNT_QUAD
	},
	{
	USB_DEVICE(VENDOR_ID_WISEGROUP,
	VENDOR_ID_WISEGROUP_PHIDGETSERVO_UNI),
	.driver_info = 0
	},
	{}
	};

	MODULE_DEVICE_TABLE(usb, id_table);

	static int unsigned long device_no;

	struct phidget_servo {
	struct usb_device *udev;
	struct device *dev;
	int dev_no;
	ulong type;
	int pulse[4];
	int degrees[4];
	int minutes[4];
	};

	static int
	change_position_v30(struct phidget_servo *servo, int servo_no, int degrees,
	int minutes)
	{
	int retval;
	unsigned char *buffer;

	if (degrees < -23 \|\| degrees > 362)
	return -EINVAL;

	buffer = kmalloc(6, GFP_KERNEL);
	if (!buffer) {
	dev_err(&servo->udev->dev, "%s - out of memory\n",
	__FUNCTION__);
	return -ENOMEM;
	}

	/*
	* pulse = 0 - 4095
	* angle = 0 - 180 degrees
	*
	* pulse = angle * 10.6 + 243.8
	*/
	servo->pulse[servo_no] = ((degrees60 + minutes)106 + 2438*60)/600;
	servo->degrees[servo_no]= degrees;
	servo->minutes[servo_no]= minutes;

	/*
	* The PhidgetServo v3.0 is controlled by sending 6 bytes,
	* 4 * 12 bits for each servo.
	*
	* low = lower 8 bits pulse
	* high = higher 4 bits pulse
	*
	* offset bits
	* +---+-----------------+
	* \| 0 \| low 0 \|
	* +---+--------+--------+
	* \| 1 \| high 1 \| high 0 \|
	* +---+--------+--------+
	* \| 2 \| low 1 \|
	* +---+-----------------+
	* \| 3 \| low 2 \|
	* +---+--------+--------+
	* \| 4 \| high 3 \| high 2 \|
	* +---+--------+--------+
	* \| 5 \| low 3 \|
	* +---+-----------------+
	*/

	buffer[0] = servo->pulse[0] & 0xff;
	buffer[1] = (servo->pulse[0] >> 8 & 0x0f)
	\| (servo->pulse[1] >> 4 & 0xf0);
	buffer[2] = servo->pulse[1] & 0xff;
	buffer[3] = servo->pulse[2] & 0xff;
	buffer[4] = (servo->pulse[2] >> 8 & 0x0f)
	\| (servo->pulse[3] >> 4 & 0xf0);
	buffer[5] = servo->pulse[3] & 0xff;

	dev_dbg(&servo->udev->dev,
	"data: %02x %02x %02x %02x %02x %02x\n",
	buffer[0], buffer[1], buffer[2],
	buffer[3], buffer[4], buffer[5]);

	retval = usb_control_msg(servo->udev,
	usb_sndctrlpipe(servo->udev, 0),
	0x09, 0x21, 0x0200, 0x0000, buffer, 6, 2000);

	kfree(buffer);

	return retval;
	}

	static int
	change_position_v20(struct phidget_servo *servo, int servo_no, int degrees,
	int minutes)
	{
	int retval;
	unsigned char *buffer;

	if (degrees < -23 \|\| degrees > 278)
	return -EINVAL;

	buffer = kmalloc(2, GFP_KERNEL);
	if (!buffer) {
	dev_err(&servo->udev->dev, "%s - out of memory\n",
	__FUNCTION__);
	return -ENOMEM;
	}

	/*
	* angle = 0 - 180 degrees
	* pulse = angle + 23
	*/
	servo->pulse[servo_no]= degrees + 23;
	servo->degrees[servo_no]= degrees;
	servo->minutes[servo_no]= 0;

	/*
	* The PhidgetServo v2.0 is controlled by sending two bytes. The
	* first byte is the servo number xor'ed with 2:
	*
	* servo 0 = 2
	* servo 1 = 3
	* servo 2 = 0
	* servo 3 = 1
	*
	* The second byte is the position.
	*/

	buffer[0] = servo_no ^ 2;
	buffer[1] = servo->pulse[servo_no];

	dev_dbg(&servo->udev->dev, "data: %02x %02x\n", buffer[0], buffer[1]);

	retval = usb_control_msg(servo->udev,
	usb_sndctrlpipe(servo->udev, 0),
	0x09, 0x21, 0x0200, 0x0000, buffer, 2, 2000);

	kfree(buffer);

	return retval;
	}

	#define show_set(value) \
	static ssize_t set_servo##value (struct device *dev, \
	struct device_attribute *attr, \
	const char *buf, size_t count) \
	{ \
	int degrees, minutes, retval; \
	struct phidget_servo *servo = dev_get_drvdata(dev); \
	\
	minutes = 0; \
	/* must at least convert degrees */ \
	if (sscanf(buf, "%d.%d", &degrees, &minutes) < 1) { \
	return -EINVAL; \
	} \
	\
	if (minutes < 0 \|\| minutes > 59) \
	return -EINVAL; \
	\
	if (servo->type & SERVO_VERSION_30) \
	retval = change_position_v30(servo, value, degrees, \
	minutes); \
	else \
	retval = change_position_v20(servo, value, degrees, \
	minutes); \
	\
	return retval < 0 ? retval : count; \
	} \
	\
	static ssize_t show_servo##value (struct device *dev, \
	struct device_attribute *attr, \
	char *buf) \
	{ \
	struct phidget_servo *servo = dev_get_drvdata(dev); \
	\
	return sprintf(buf, "%d.%02d\n", servo->degrees[value], \
	servo->minutes[value]); \
	}

	#define servo_attr(value) \
	__ATTR(servo##value, S_IWUGO \| S_IRUGO, \
	show_servo##value, set_servo##value)
	show_set(0);
	show_set(1);
	show_set(2);
	show_set(3);

	static struct device_attribute dev_attrs[] = {
	servo_attr(0), servo_attr(1), servo_attr(2), servo_attr(3)
	};

	static int
	servo_probe(struct usb_interface interface, const struct usb_device_id id)
	{
	struct usb_device *udev = interface_to_usbdev(interface);
	struct phidget_servo *dev;
	int bit, value, rc;
	int servo_count, i;

	dev = kzalloc(sizeof (struct phidget_servo), GFP_KERNEL);
	if (dev == NULL) {
	dev_err(&interface->dev, "%s - out of memory\n", __FUNCTION__);
	rc = -ENOMEM;
	goto out;
	}

	dev->udev = usb_get_dev(udev);
	dev->type = id->driver_info;
	dev->dev_no = -1;
	usb_set_intfdata(interface, dev);

	do {
	bit = find_first_zero_bit(&device_no, sizeof(device_no));
	value = test_and_set_bit(bit, &device_no);
	} while (value);
	dev->dev_no = bit;

	dev->dev = device_create(phidget_class, &dev->udev->dev, 0,
	"servo%d", dev->dev_no);
	if (IS_ERR(dev->dev)) {
	rc = PTR_ERR(dev->dev);
	dev->dev = NULL;
	goto out;
	}
	dev_set_drvdata(dev->dev, dev);

	servo_count = dev->type & SERVO_COUNT_QUAD ? 4 : 1;

	for (i=0; i<servo_count; i++) {
	rc = device_create_file(dev->dev, &dev_attrs[i]);
	if (rc)
	goto out2;
	}

	dev_info(&interface->dev, "USB %d-Motor PhidgetServo v%d.0 attached\n",
	servo_count, dev->type & SERVO_VERSION_30 ? 3 : 2);

	if (!(dev->type & SERVO_VERSION_30))
	dev_info(&interface->dev,
	"WARNING: v2.0 not tested! Please report if it works.\n");

	return 0;
	out2:
	while (i-- > 0)
	device_remove_file(dev->dev, &dev_attrs[i]);
	out:
	if (dev) {
	if (dev->dev)
	device_unregister(dev->dev);
	if (dev->dev_no >= 0)
	clear_bit(dev->dev_no, &device_no);

	kfree(dev);
	}

	return rc;
	}

	static void
	servo_disconnect(struct usb_interface *interface)
	{
	struct phidget_servo *dev;
	int servo_count, i;

	dev = usb_get_intfdata(interface);
	usb_set_intfdata(interface, NULL);

	if (!dev)
	return;

	servo_count = dev->type & SERVO_COUNT_QUAD ? 4 : 1;

	for (i=0; i<servo_count; i++)
	device_remove_file(dev->dev, &dev_attrs[i]);

	device_unregister(dev->dev);
	usb_put_dev(dev->udev);

	dev_info(&interface->dev, "USB %d-Motor PhidgetServo v%d.0 detached\n",
	servo_count, dev->type & SERVO_VERSION_30 ? 3 : 2);

	clear_bit(dev->dev_no, &device_no);
	kfree(dev);
	}

	static struct usb_driver servo_driver = {
	.name = "phidgetservo",
	.probe = servo_probe,
	.disconnect = servo_disconnect,
	.id_table = id_table
	};

	static int __init
	phidget_servo_init(void)
	{
	int retval;

	retval = usb_register(&servo_driver);
	if (retval)
	err("usb_register failed. Error number %d", retval);

	return retval;
	}

	static void __exit
	phidget_servo_exit(void)
	{
	usb_deregister(&servo_driver);
	}

	module_init(phidget_servo_init);
	module_exit(phidget_servo_exit);

	MODULE_AUTHOR(DRIVER_AUTHOR);
	MODULE_DESCRIPTION(DRIVER_DESC);
	MODULE_LICENSE("GPL");