]>
Commit | Line | Data |
---|---|---|
d5176b41 SY |
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 | #define DRIVER_AUTHOR "Sean Young <sean@mess.org>" | |
19 | #define DRIVER_DESC "USB PhidgetMotorControl Driver" | |
20 | ||
21 | #define USB_VENDOR_ID_GLAB 0x06c2 | |
22 | #define USB_DEVICE_ID_MOTORCONTROL 0x0058 | |
23 | ||
24 | #define URB_INT_SIZE 8 | |
25 | ||
26 | struct motorcontrol { | |
27 | struct usb_device *udev; | |
28 | struct usb_interface *intf; | |
29 | u8 inputs[4]; | |
30 | s8 desired_speed[2]; | |
31 | s8 speed[2]; | |
32 | s16 _current[2]; | |
33 | s8 acceleration[2]; | |
34 | struct urb *irq; | |
35 | unsigned char *data; | |
36 | dma_addr_t data_dma; | |
37 | ||
38 | struct work_struct do_notify; | |
39 | unsigned long input_events; | |
40 | unsigned long speed_events; | |
41 | unsigned long exceed_events; | |
42 | }; | |
43 | ||
44 | static struct usb_device_id id_table[] = { | |
45 | { USB_DEVICE(USB_VENDOR_ID_GLAB, USB_DEVICE_ID_MOTORCONTROL) }, | |
46 | {} | |
47 | }; | |
48 | MODULE_DEVICE_TABLE(usb, id_table); | |
49 | ||
50 | static int set_motor(struct motorcontrol *mc, int motor) | |
51 | { | |
52 | u8 *buffer; | |
53 | int speed, speed2, acceleration; | |
54 | int retval; | |
55 | ||
56 | buffer = kzalloc(8, GFP_KERNEL); | |
57 | if (!buffer) { | |
58 | dev_err(&mc->intf->dev, "%s - out of memory\n", __FUNCTION__); | |
59 | return -ENOMEM; | |
60 | } | |
61 | ||
62 | acceleration = mc->acceleration[motor] * 10; | |
63 | /* -127 <= speed <= 127 */ | |
64 | speed = (mc->desired_speed[motor] * 127) / 100; | |
65 | /* -0x7300 <= speed2 <= 0x7300 */ | |
66 | speed2 = (mc->desired_speed[motor] * 230 * 128) / 100; | |
67 | ||
68 | buffer[0] = motor; | |
69 | buffer[1] = speed; | |
70 | buffer[2] = acceleration >> 8; | |
71 | buffer[3] = acceleration; | |
72 | buffer[4] = speed2 >> 8; | |
73 | buffer[5] = speed2; | |
74 | ||
75 | retval = usb_control_msg(mc->udev, | |
76 | usb_sndctrlpipe(mc->udev, 0), | |
77 | 0x09, 0x21, 0x0200, 0x0000, buffer, 8, 2000); | |
78 | ||
79 | if (retval != 8) | |
80 | dev_err(&mc->intf->dev, "usb_control_msg returned %d\n", | |
81 | retval); | |
82 | kfree(buffer); | |
83 | ||
84 | return retval < 0 ? retval : 0; | |
85 | } | |
86 | ||
87 | static void motorcontrol_irq(struct urb *urb, struct pt_regs *regs) | |
88 | { | |
89 | struct motorcontrol *mc = urb->context; | |
90 | unsigned char *buffer = mc->data; | |
91 | int i, level; | |
92 | int status; | |
93 | ||
94 | switch (urb->status) { | |
95 | case 0: /* success */ | |
96 | break; | |
97 | case -ECONNRESET: /* unlink */ | |
98 | case -ENOENT: | |
99 | case -ESHUTDOWN: | |
100 | return; | |
101 | /* -EPIPE: should clear the halt */ | |
102 | default: /* error */ | |
103 | goto resubmit; | |
104 | } | |
105 | ||
106 | /* digital inputs */ | |
107 | for (i=0; i<4; i++) { | |
108 | level = (buffer[0] >> i) & 1; | |
109 | if (mc->inputs[i] != level) { | |
110 | mc->inputs[i] = level; | |
111 | set_bit(i, &mc->input_events); | |
112 | } | |
113 | } | |
114 | ||
115 | /* motor speed */ | |
116 | if (buffer[2] == 0) { | |
117 | for (i=0; i<2; i++) { | |
118 | level = ((s8)buffer[4+i]) * 100 / 127; | |
119 | if (mc->speed[i] != level) { | |
120 | mc->speed[i] = level; | |
121 | set_bit(i, &mc->speed_events); | |
122 | } | |
123 | } | |
124 | } else { | |
125 | int index = buffer[3] & 1; | |
126 | ||
127 | level = ((s8)buffer[4] << 8) | buffer[5]; | |
128 | level = level * 100 / 29440; | |
129 | if (mc->speed[index] != level) { | |
130 | mc->speed[index] = level; | |
131 | set_bit(index, &mc->speed_events); | |
132 | } | |
133 | ||
134 | level = ((s8)buffer[6] << 8) | buffer[7]; | |
135 | mc->_current[index] = level * 100 / 1572; | |
136 | } | |
137 | ||
138 | if (buffer[1] & 1) | |
139 | set_bit(0, &mc->exceed_events); | |
140 | ||
141 | if (buffer[1] & 2) | |
142 | set_bit(1, &mc->exceed_events); | |
143 | ||
144 | if (mc->input_events || mc->exceed_events || mc->speed_events) | |
145 | schedule_work(&mc->do_notify); | |
146 | ||
147 | resubmit: | |
148 | status = usb_submit_urb(urb, SLAB_ATOMIC); | |
149 | if (status) | |
150 | dev_err(&mc->intf->dev, | |
151 | "can't resubmit intr, %s-%s/motorcontrol0, status %d", | |
152 | mc->udev->bus->bus_name, | |
153 | mc->udev->devpath, status); | |
154 | } | |
155 | ||
156 | static void do_notify(void *data) | |
157 | { | |
158 | struct motorcontrol *mc = data; | |
159 | int i; | |
160 | char sysfs_file[8]; | |
161 | ||
162 | for (i=0; i<4; i++) { | |
163 | if (test_and_clear_bit(i, &mc->input_events)) { | |
164 | sprintf(sysfs_file, "input%d", i); | |
165 | sysfs_notify(&mc->intf->dev.kobj, NULL, sysfs_file); | |
166 | } | |
167 | } | |
168 | ||
169 | for (i=0; i<2; i++) { | |
170 | if (test_and_clear_bit(i, &mc->speed_events)) { | |
171 | sprintf(sysfs_file, "speed%d", i); | |
172 | sysfs_notify(&mc->intf->dev.kobj, NULL, sysfs_file); | |
173 | } | |
174 | } | |
175 | ||
176 | for (i=0; i<2; i++) { | |
177 | if (test_and_clear_bit(i, &mc->exceed_events)) | |
178 | dev_warn(&mc->intf->dev, | |
179 | "motor #%d exceeds 1.5 Amp current limit\n", i); | |
180 | } | |
181 | } | |
182 | ||
183 | #define show_set_speed(value) \ | |
184 | static ssize_t set_speed##value(struct device *dev, \ | |
185 | struct device_attribute *attr, const char *buf, size_t count) \ | |
186 | { \ | |
187 | struct usb_interface *intf = to_usb_interface(dev); \ | |
188 | struct motorcontrol *mc = usb_get_intfdata(intf); \ | |
189 | int speed; \ | |
190 | int retval; \ | |
191 | \ | |
192 | if (sscanf(buf, "%d", &speed) < 1) \ | |
193 | return -EINVAL; \ | |
194 | \ | |
195 | if (speed < -100 || speed > 100) \ | |
196 | return -EINVAL; \ | |
197 | \ | |
198 | mc->desired_speed[value] = speed; \ | |
199 | \ | |
200 | retval = set_motor(mc, value); \ | |
201 | \ | |
202 | return retval ? retval : count; \ | |
203 | } \ | |
204 | \ | |
205 | static ssize_t show_speed##value(struct device *dev, \ | |
206 | struct device_attribute *attr, char *buf) \ | |
207 | { \ | |
208 | struct usb_interface *intf = to_usb_interface(dev); \ | |
209 | struct motorcontrol *mc = usb_get_intfdata(intf); \ | |
210 | \ | |
211 | return sprintf(buf, "%d\n", mc->speed[value]); \ | |
212 | } \ | |
213 | static DEVICE_ATTR(speed##value, S_IWUGO | S_IRUGO, \ | |
214 | show_speed##value, set_speed##value); | |
215 | show_set_speed(0); | |
216 | show_set_speed(1); | |
217 | ||
218 | #define show_set_acceleration(value) \ | |
219 | static ssize_t set_acceleration##value(struct device *dev, \ | |
220 | struct device_attribute *attr, const char *buf, size_t count) \ | |
221 | { \ | |
222 | struct usb_interface *intf = to_usb_interface(dev); \ | |
223 | struct motorcontrol *mc = usb_get_intfdata(intf); \ | |
224 | int acceleration; \ | |
225 | int retval; \ | |
226 | \ | |
227 | if (sscanf(buf, "%d", &acceleration) < 1) \ | |
228 | return -EINVAL; \ | |
229 | \ | |
230 | if (acceleration < 0 || acceleration > 100) \ | |
231 | return -EINVAL; \ | |
232 | \ | |
233 | mc->acceleration[value] = acceleration; \ | |
234 | \ | |
235 | retval = set_motor(mc, value); \ | |
236 | \ | |
237 | return retval ? retval : count; \ | |
238 | } \ | |
239 | \ | |
240 | static ssize_t show_acceleration##value(struct device *dev, \ | |
241 | struct device_attribute *attr, char *buf) \ | |
242 | { \ | |
243 | struct usb_interface *intf = to_usb_interface(dev); \ | |
244 | struct motorcontrol *mc = usb_get_intfdata(intf); \ | |
245 | \ | |
246 | return sprintf(buf, "%d\n", mc->acceleration[value]); \ | |
247 | } \ | |
248 | static DEVICE_ATTR(acceleration##value, S_IWUGO | S_IRUGO, \ | |
249 | show_acceleration##value, set_acceleration##value); | |
250 | show_set_acceleration(0); | |
251 | show_set_acceleration(1); | |
252 | ||
253 | #define show_current(value) \ | |
254 | static ssize_t show_current##value(struct device *dev, \ | |
255 | struct device_attribute *attr, char *buf) \ | |
256 | { \ | |
257 | struct usb_interface *intf = to_usb_interface(dev); \ | |
258 | struct motorcontrol *mc = usb_get_intfdata(intf); \ | |
259 | \ | |
260 | return sprintf(buf, "%dmA\n", (int)mc->_current[value]); \ | |
261 | } \ | |
262 | static DEVICE_ATTR(current##value, S_IRUGO, show_current##value, NULL); | |
263 | ||
264 | show_current(0); | |
265 | show_current(1); | |
266 | ||
267 | #define show_input(value) \ | |
268 | static ssize_t show_input##value(struct device *dev, \ | |
269 | struct device_attribute *attr, char *buf) \ | |
270 | { \ | |
271 | struct usb_interface *intf = to_usb_interface(dev); \ | |
272 | struct motorcontrol *mc = usb_get_intfdata(intf); \ | |
273 | \ | |
274 | return sprintf(buf, "%d\n", (int)mc->inputs[value]); \ | |
275 | } \ | |
276 | static DEVICE_ATTR(input##value, S_IRUGO, show_input##value, NULL); | |
277 | ||
278 | show_input(0); | |
279 | show_input(1); | |
280 | show_input(2); | |
281 | show_input(3); | |
282 | ||
283 | static int motorcontrol_probe(struct usb_interface *intf, const struct usb_device_id *id) | |
284 | { | |
285 | struct usb_device *dev = interface_to_usbdev(intf); | |
286 | struct usb_host_interface *interface; | |
287 | struct usb_endpoint_descriptor *endpoint; | |
288 | struct motorcontrol *mc; | |
289 | int pipe, maxp, rc = -ENOMEM; | |
290 | ||
291 | interface = intf->cur_altsetting; | |
292 | if (interface->desc.bNumEndpoints != 1) | |
293 | return -ENODEV; | |
294 | ||
295 | endpoint = &interface->endpoint[0].desc; | |
296 | if (!(endpoint->bEndpointAddress & 0x80)) | |
297 | return -ENODEV; | |
298 | ||
299 | /* | |
300 | * bmAttributes | |
301 | */ | |
302 | pipe = usb_rcvintpipe(dev, endpoint->bEndpointAddress); | |
303 | maxp = usb_maxpacket(dev, pipe, usb_pipeout(pipe)); | |
304 | ||
305 | mc = kzalloc(sizeof(*mc), GFP_KERNEL); | |
306 | if (!mc) | |
307 | goto out; | |
308 | ||
309 | mc->data = usb_buffer_alloc(dev, URB_INT_SIZE, SLAB_ATOMIC, &mc->data_dma); | |
310 | if (!mc->data) | |
311 | goto out; | |
312 | ||
313 | mc->irq = usb_alloc_urb(0, GFP_KERNEL); | |
314 | if (!mc->irq) | |
315 | goto out; | |
316 | ||
317 | mc->udev = usb_get_dev(dev); | |
318 | mc->intf = intf; | |
319 | mc->acceleration[0] = mc->acceleration[1] = 10; | |
320 | INIT_WORK(&mc->do_notify, do_notify, mc); | |
321 | usb_fill_int_urb(mc->irq, mc->udev, pipe, mc->data, | |
322 | maxp > URB_INT_SIZE ? URB_INT_SIZE : maxp, | |
323 | motorcontrol_irq, mc, endpoint->bInterval); | |
324 | mc->irq->transfer_dma = mc->data_dma; | |
325 | mc->irq->transfer_flags |= URB_NO_TRANSFER_DMA_MAP; | |
326 | ||
327 | usb_set_intfdata(intf, mc); | |
328 | ||
329 | if (usb_submit_urb(mc->irq, GFP_KERNEL)) { | |
330 | rc = -EIO; | |
331 | goto out; | |
332 | } | |
333 | ||
334 | device_create_file(&intf->dev, &dev_attr_input0); | |
335 | device_create_file(&intf->dev, &dev_attr_input1); | |
336 | device_create_file(&intf->dev, &dev_attr_input2); | |
337 | device_create_file(&intf->dev, &dev_attr_input3); | |
338 | ||
339 | device_create_file(&intf->dev, &dev_attr_speed0); | |
340 | device_create_file(&intf->dev, &dev_attr_speed1); | |
341 | ||
342 | device_create_file(&intf->dev, &dev_attr_acceleration0); | |
343 | device_create_file(&intf->dev, &dev_attr_acceleration1); | |
344 | ||
345 | device_create_file(&intf->dev, &dev_attr_current0); | |
346 | device_create_file(&intf->dev, &dev_attr_current1); | |
347 | ||
348 | dev_info(&intf->dev, "USB Phidget MotorControl attached\n"); | |
349 | ||
350 | return 0; | |
351 | ||
352 | out: | |
353 | if (mc) { | |
354 | if (mc->irq) | |
355 | usb_free_urb(mc->irq); | |
356 | if (mc->data) | |
357 | usb_buffer_free(dev, URB_INT_SIZE, mc->data, mc->data_dma); | |
358 | kfree(mc); | |
359 | } | |
360 | ||
361 | return rc; | |
362 | } | |
363 | ||
364 | static void motorcontrol_disconnect(struct usb_interface *interface) | |
365 | { | |
366 | struct motorcontrol *mc; | |
367 | ||
368 | mc = usb_get_intfdata(interface); | |
369 | usb_set_intfdata(interface, NULL); | |
370 | if (!mc) | |
371 | return; | |
372 | ||
373 | usb_kill_urb(mc->irq); | |
374 | usb_free_urb(mc->irq); | |
375 | usb_buffer_free(mc->udev, URB_INT_SIZE, mc->data, mc->data_dma); | |
376 | ||
377 | cancel_delayed_work(&mc->do_notify); | |
378 | ||
379 | device_remove_file(&interface->dev, &dev_attr_input0); | |
380 | device_remove_file(&interface->dev, &dev_attr_input1); | |
381 | device_remove_file(&interface->dev, &dev_attr_input2); | |
382 | device_remove_file(&interface->dev, &dev_attr_input3); | |
383 | ||
384 | device_remove_file(&interface->dev, &dev_attr_speed0); | |
385 | device_remove_file(&interface->dev, &dev_attr_speed1); | |
386 | ||
387 | device_remove_file(&interface->dev, &dev_attr_acceleration0); | |
388 | device_remove_file(&interface->dev, &dev_attr_acceleration1); | |
389 | ||
390 | device_remove_file(&interface->dev, &dev_attr_current0); | |
391 | device_remove_file(&interface->dev, &dev_attr_current1); | |
392 | ||
393 | dev_info(&interface->dev, "USB Phidget MotorControl disconnected\n"); | |
394 | ||
395 | usb_put_dev(mc->udev); | |
396 | kfree(mc); | |
397 | } | |
398 | ||
399 | static struct usb_driver motorcontrol_driver = { | |
400 | .name = "phidgetmotorcontrol", | |
401 | .probe = motorcontrol_probe, | |
402 | .disconnect = motorcontrol_disconnect, | |
403 | .id_table = id_table | |
404 | }; | |
405 | ||
406 | static int __init motorcontrol_init(void) | |
407 | { | |
408 | int retval = 0; | |
409 | ||
410 | retval = usb_register(&motorcontrol_driver); | |
411 | if (retval) | |
412 | err("usb_register failed. Error number %d", retval); | |
413 | ||
414 | return retval; | |
415 | } | |
416 | ||
417 | static void __exit motorcontrol_exit(void) | |
418 | { | |
419 | usb_deregister(&motorcontrol_driver); | |
420 | } | |
421 | ||
422 | module_init(motorcontrol_init); | |
423 | module_exit(motorcontrol_exit); | |
424 | ||
425 | MODULE_AUTHOR(DRIVER_AUTHOR); | |
426 | MODULE_DESCRIPTION(DRIVER_DESC); | |
427 | MODULE_LICENSE("GPL"); |