USB: Add driver for PhidgetMotorControl
authorSean Young <sean@mess.org>
Sun, 9 Jul 2006 13:01:02 +0000 (13:01 +0000)
committerGreg Kroah-Hartman <gregkh@suse.de>
Wed, 27 Sep 2006 18:58:49 +0000 (11:58 -0700)
This driver add support for the Phidgets Inc., MotorControl via sysfs. Also
some minor fixes for the InterfaceKit.

Signed-off-by: Sean Young <sean@mess.org>
Signed-off-by: Greg Kroah-Hartman <gregkh@suse.de>
drivers/usb/input/hid-core.c
drivers/usb/misc/Kconfig
drivers/usb/misc/Makefile
drivers/usb/misc/phidgetmotorcontrol.c [new file with mode: 0644]

index 3305fb6079eb1d968bd8a3ee4357b6d3be2c7f74..8f8d4af3f6ef8eae08de2f0a61da2e990f8dc551 100644 (file)
@@ -1535,13 +1535,17 @@ void hid_init_reports(struct hid_device *hid)
 #define USB_VENDOR_ID_GLAB             0x06c2
 #define USB_DEVICE_ID_4_PHIDGETSERVO_30        0x0038
 #define USB_DEVICE_ID_1_PHIDGETSERVO_30        0x0039
-#define USB_DEVICE_ID_8_8_8_IF_KIT     0x0045
 #define USB_DEVICE_ID_0_0_4_IF_KIT     0x0040
+#define USB_DEVICE_ID_0_16_16_IF_KIT   0x0044
+#define USB_DEVICE_ID_8_8_8_IF_KIT     0x0045
+#define USB_DEVICE_ID_0_8_7_IF_KIT     0x0051
 #define USB_DEVICE_ID_0_8_8_IF_KIT     0x0053
+#define USB_DEVICE_ID_PHIDGET_MOTORCONTROL     0x0058
 
 #define USB_VENDOR_ID_WISEGROUP                0x0925
 #define USB_DEVICE_ID_1_PHIDGETSERVO_20        0x8101
 #define USB_DEVICE_ID_4_PHIDGETSERVO_20        0x8104
+#define USB_DEVICE_ID_8_8_4_IF_KIT     0x8201
 #define USB_DEVICE_ID_DUAL_USB_JOYPAD   0x8866
 
 #define USB_VENDOR_ID_WISEGROUP_LTD    0x6677
@@ -1620,9 +1624,12 @@ static const struct hid_blacklist {
        { USB_VENDOR_ID_ESSENTIAL_REALITY, USB_DEVICE_ID_ESSENTIAL_REALITY_P5, HID_QUIRK_IGNORE },
        { USB_VENDOR_ID_GLAB, USB_DEVICE_ID_4_PHIDGETSERVO_30, HID_QUIRK_IGNORE },
        { USB_VENDOR_ID_GLAB, USB_DEVICE_ID_1_PHIDGETSERVO_30, HID_QUIRK_IGNORE },
-       { USB_VENDOR_ID_GLAB, USB_DEVICE_ID_8_8_8_IF_KIT, HID_QUIRK_IGNORE },
        { USB_VENDOR_ID_GLAB, USB_DEVICE_ID_0_0_4_IF_KIT, HID_QUIRK_IGNORE },
+       { USB_VENDOR_ID_GLAB, USB_DEVICE_ID_0_16_16_IF_KIT, HID_QUIRK_IGNORE },
+       { USB_VENDOR_ID_GLAB, USB_DEVICE_ID_8_8_8_IF_KIT, HID_QUIRK_IGNORE },
+       { USB_VENDOR_ID_GLAB, USB_DEVICE_ID_0_8_7_IF_KIT, HID_QUIRK_IGNORE },
        { USB_VENDOR_ID_GLAB, USB_DEVICE_ID_0_8_8_IF_KIT, HID_QUIRK_IGNORE },
+       { USB_VENDOR_ID_GLAB, USB_DEVICE_ID_PHIDGET_MOTORCONTROL, HID_QUIRK_IGNORE },
        { USB_VENDOR_ID_GRIFFIN, USB_DEVICE_ID_POWERMATE, HID_QUIRK_IGNORE },
        { USB_VENDOR_ID_GRIFFIN, USB_DEVICE_ID_SOUNDKNOB, HID_QUIRK_IGNORE },
        { USB_VENDOR_ID_GTCO, USB_DEVICE_ID_GTCO_90, HID_QUIRK_IGNORE },
@@ -1701,6 +1708,7 @@ static const struct hid_blacklist {
        { USB_VENDOR_ID_VERNIER, USB_DEVICE_ID_VERNIER_CYCLOPS, HID_QUIRK_IGNORE },
        { USB_VENDOR_ID_WISEGROUP, USB_DEVICE_ID_4_PHIDGETSERVO_20, HID_QUIRK_IGNORE },
        { USB_VENDOR_ID_WISEGROUP, USB_DEVICE_ID_1_PHIDGETSERVO_20, HID_QUIRK_IGNORE },
+       { USB_VENDOR_ID_WISEGROUP, USB_DEVICE_ID_8_8_4_IF_KIT, HID_QUIRK_IGNORE },
        { USB_VENDOR_ID_YEALINK, USB_DEVICE_ID_YEALINK_P1K_P4K_B2K, HID_QUIRK_IGNORE },
 
        { USB_VENDOR_ID_ACECAD, USB_DEVICE_ID_ACECAD_FLAIR, HID_QUIRK_IGNORE },
index 88928a4be8057e9c286218ecacfecb17334db45e..8affc137d618c5fe87f8e8eedcd444fdf50fc53c 100644 (file)
@@ -116,15 +116,25 @@ config USB_CYTHERM
          module will be called cytherm.
 
 config USB_PHIDGETKIT
-       tristate "USB PhidgetKit support"
+       tristate "USB PhidgetInterfaceKit support"
        depends on USB
        help
-         Say Y here if you want to connect a PhidgetKit USB device from
-         Phidgets Inc.
+         Say Y here if you want to connect a PhidgetInterfaceKit USB device
+         from Phidgets Inc.
 
          To compile this driver as a module, choose M here: the
          module will be called phidgetkit.
 
+config USB_PHIDGETMOTORCONTROL
+       tristate "USB PhidgetMotorControl support"
+       depends on USB
+       help
+         Say Y here if you want to connect a PhidgetMotorControl USB device
+         from Phidgets Inc.
+
+         To compile this driver as a module, choose M here: the
+         module will be called phidgetmotorcontrol.
+
 config USB_PHIDGETSERVO
        tristate "USB PhidgetServo support"
        depends on USB
index 2927260c5812eed54c2ad21cb001762430d3f4cf..5f329176451a1c4c656bd8e98dffa2706d30a4c7 100644 (file)
@@ -14,6 +14,7 @@ obj-$(CONFIG_USB_LD)          += ldusb.o
 obj-$(CONFIG_USB_LED)          += usbled.o
 obj-$(CONFIG_USB_LEGOTOWER)    += legousbtower.o
 obj-$(CONFIG_USB_PHIDGETKIT)   += phidgetkit.o
+obj-$(CONFIG_USB_PHIDGETMOTORCONTROL)  += phidgetmotorcontrol.o
 obj-$(CONFIG_USB_PHIDGETSERVO) += phidgetservo.o
 obj-$(CONFIG_USB_RIO500)       += rio500.o
 obj-$(CONFIG_USB_TEST)         += usbtest.o
diff --git a/drivers/usb/misc/phidgetmotorcontrol.c b/drivers/usb/misc/phidgetmotorcontrol.c
new file mode 100644 (file)
index 0000000..2972dc2
--- /dev/null
@@ -0,0 +1,427 @@
+/*
+ * USB Phidget MotorControl driver
+ *
+ * Copyright (C) 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.
+ */
+
+#include <linux/kernel.h>
+#include <linux/errno.h>
+#include <linux/init.h>
+#include <linux/module.h>
+#include <linux/usb.h>
+
+#define DRIVER_AUTHOR "Sean Young <sean@mess.org>"
+#define DRIVER_DESC "USB PhidgetMotorControl Driver"
+
+#define USB_VENDOR_ID_GLAB             0x06c2
+#define USB_DEVICE_ID_MOTORCONTROL     0x0058
+
+#define URB_INT_SIZE                   8
+
+struct motorcontrol {
+       struct usb_device *udev;
+       struct usb_interface *intf;
+       u8 inputs[4];
+       s8 desired_speed[2];
+       s8 speed[2];
+       s16 _current[2];
+       s8 acceleration[2];
+       struct urb *irq;
+       unsigned char *data;
+       dma_addr_t data_dma;
+
+       struct work_struct do_notify;
+       unsigned long input_events;
+       unsigned long speed_events;
+       unsigned long exceed_events;
+};
+
+static struct usb_device_id id_table[] = {
+       { USB_DEVICE(USB_VENDOR_ID_GLAB, USB_DEVICE_ID_MOTORCONTROL) },
+       {}
+};
+MODULE_DEVICE_TABLE(usb, id_table);
+
+static int set_motor(struct motorcontrol *mc, int motor)
+{
+       u8 *buffer;
+       int speed, speed2, acceleration;
+       int retval;
+
+       buffer = kzalloc(8, GFP_KERNEL);
+       if (!buffer) {
+               dev_err(&mc->intf->dev, "%s - out of memory\n", __FUNCTION__);
+               return -ENOMEM;
+       }
+
+       acceleration = mc->acceleration[motor] * 10;
+       /* -127 <= speed <= 127 */
+       speed = (mc->desired_speed[motor] * 127) / 100;
+       /* -0x7300 <= speed2 <= 0x7300 */
+       speed2 = (mc->desired_speed[motor] * 230 * 128) / 100;
+
+       buffer[0] = motor;
+       buffer[1] = speed;
+       buffer[2] = acceleration >> 8;
+       buffer[3] = acceleration;
+       buffer[4] = speed2 >> 8;
+       buffer[5] = speed2;
+
+       retval = usb_control_msg(mc->udev,
+                        usb_sndctrlpipe(mc->udev, 0),
+                        0x09, 0x21, 0x0200, 0x0000, buffer, 8, 2000);
+
+       if (retval != 8)
+               dev_err(&mc->intf->dev, "usb_control_msg returned %d\n",
+                               retval);
+       kfree(buffer);
+
+       return retval < 0 ? retval : 0;
+}
+
+static void motorcontrol_irq(struct urb *urb, struct pt_regs *regs)
+{
+       struct motorcontrol *mc = urb->context;
+       unsigned char *buffer = mc->data;
+       int i, level;
+       int status;
+
+       switch (urb->status) {
+       case 0:                 /* success */
+               break;
+       case -ECONNRESET:       /* unlink */
+       case -ENOENT:
+       case -ESHUTDOWN:
+               return;
+       /* -EPIPE:  should clear the halt */
+       default:                /* error */
+               goto resubmit;
+       }
+
+       /* digital inputs */
+       for (i=0; i<4; i++) {
+               level = (buffer[0] >> i) & 1;
+               if (mc->inputs[i] != level) {
+                       mc->inputs[i] = level;
+                       set_bit(i, &mc->input_events);
+               }
+       }
+
+       /* motor speed */
+       if (buffer[2] == 0) {
+               for (i=0; i<2; i++) {
+               level = ((s8)buffer[4+i]) * 100 / 127;
+                       if (mc->speed[i] != level) {
+                               mc->speed[i] = level;
+                               set_bit(i, &mc->speed_events);
+                       }
+               }
+       } else {
+               int index = buffer[3] & 1;
+
+               level = ((s8)buffer[4] << 8) | buffer[5];
+               level = level * 100 / 29440;
+               if (mc->speed[index] != level) {
+                       mc->speed[index] = level;
+                       set_bit(index, &mc->speed_events);
+               }
+
+               level = ((s8)buffer[6] << 8) | buffer[7];
+               mc->_current[index] = level * 100 / 1572;
+       }
+
+       if (buffer[1] & 1)
+               set_bit(0, &mc->exceed_events);
+
+       if (buffer[1] & 2)
+               set_bit(1, &mc->exceed_events);
+
+       if (mc->input_events || mc->exceed_events || mc->speed_events)
+               schedule_work(&mc->do_notify);
+
+resubmit:
+       status = usb_submit_urb(urb, SLAB_ATOMIC);
+       if (status)
+               dev_err(&mc->intf->dev,
+                       "can't resubmit intr, %s-%s/motorcontrol0, status %d",
+                       mc->udev->bus->bus_name,
+                       mc->udev->devpath, status);
+}
+
+static void do_notify(void *data)
+{
+       struct motorcontrol *mc = data;
+       int i;
+       char sysfs_file[8];
+
+       for (i=0; i<4; i++) {
+               if (test_and_clear_bit(i, &mc->input_events)) {
+                       sprintf(sysfs_file, "input%d", i);
+                       sysfs_notify(&mc->intf->dev.kobj, NULL, sysfs_file);
+               }
+       }
+
+       for (i=0; i<2; i++) {
+               if (test_and_clear_bit(i, &mc->speed_events)) {
+                       sprintf(sysfs_file, "speed%d", i);
+                       sysfs_notify(&mc->intf->dev.kobj, NULL, sysfs_file);
+               }
+       }
+
+       for (i=0; i<2; i++) {
+               if (test_and_clear_bit(i, &mc->exceed_events))
+                       dev_warn(&mc->intf->dev,
+                               "motor #%d exceeds 1.5 Amp current limit\n", i);
+       }
+}
+
+#define show_set_speed(value)          \
+static ssize_t set_speed##value(struct device *dev,                    \
+       struct device_attribute *attr, const char *buf, size_t count)   \
+{                                                                      \
+       struct usb_interface *intf = to_usb_interface(dev);             \
+       struct motorcontrol *mc = usb_get_intfdata(intf);               \
+       int speed;                                                      \
+       int retval;                                                     \
+                                                                       \
+       if (sscanf(buf, "%d", &speed) < 1)                              \
+               return -EINVAL;                                         \
+                                                                       \
+       if (speed < -100 || speed > 100)                                \
+               return -EINVAL;                                         \
+                                                                       \
+       mc->desired_speed[value] = speed;                               \
+                                                                       \
+       retval = set_motor(mc, value);                                  \
+                                                                       \
+       return retval ? retval : count;                                 \
+}                                                                      \
+                                                                       \
+static ssize_t show_speed##value(struct device *dev,                   \
+                       struct device_attribute *attr, char *buf)       \
+{                                                                      \
+       struct usb_interface *intf = to_usb_interface(dev);             \
+       struct motorcontrol *mc = usb_get_intfdata(intf);               \
+                                                                       \
+       return sprintf(buf, "%d\n", mc->speed[value]);                  \
+}                                                                      \
+static DEVICE_ATTR(speed##value, S_IWUGO | S_IRUGO,                    \
+               show_speed##value, set_speed##value);
+show_set_speed(0);
+show_set_speed(1);
+
+#define show_set_acceleration(value)           \
+static ssize_t set_acceleration##value(struct device *dev,             \
+       struct device_attribute *attr, const char *buf, size_t count)   \
+{                                                                      \
+       struct usb_interface *intf = to_usb_interface(dev);             \
+       struct motorcontrol *mc = usb_get_intfdata(intf);               \
+       int acceleration;                                               \
+       int retval;                                                     \
+                                                                       \
+       if (sscanf(buf, "%d", &acceleration) < 1)                       \
+               return -EINVAL;                                         \
+                                                                       \
+       if (acceleration < 0 || acceleration > 100)                     \
+               return -EINVAL;                                         \
+                                                                       \
+       mc->acceleration[value] = acceleration;                         \
+                                                                       \
+       retval = set_motor(mc, value);                                  \
+                                                                       \
+       return retval ? retval : count;                                 \
+}                                                                      \
+                                                                       \
+static ssize_t show_acceleration##value(struct device *dev,            \
+                       struct device_attribute *attr, char *buf)       \
+{                                                                      \
+       struct usb_interface *intf = to_usb_interface(dev);             \
+       struct motorcontrol *mc = usb_get_intfdata(intf);               \
+                                                                       \
+       return sprintf(buf, "%d\n", mc->acceleration[value]);           \
+}                                                                      \
+static DEVICE_ATTR(acceleration##value, S_IWUGO | S_IRUGO,             \
+               show_acceleration##value, set_acceleration##value);
+show_set_acceleration(0);
+show_set_acceleration(1);
+
+#define show_current(value)    \
+static ssize_t show_current##value(struct device *dev,                         \
+                       struct device_attribute *attr, char *buf)       \
+{                                                                      \
+       struct usb_interface *intf = to_usb_interface(dev);             \
+       struct motorcontrol *mc = usb_get_intfdata(intf);               \
+                                                                       \
+       return sprintf(buf, "%dmA\n", (int)mc->_current[value]);        \
+}                                                                      \
+static DEVICE_ATTR(current##value, S_IRUGO, show_current##value, NULL);
+
+show_current(0);
+show_current(1);
+
+#define show_input(value)      \
+static ssize_t show_input##value(struct device *dev,                   \
+                       struct device_attribute *attr, char *buf)       \
+{                                                                      \
+       struct usb_interface *intf = to_usb_interface(dev);             \
+       struct motorcontrol *mc = usb_get_intfdata(intf);               \
+                                                                       \
+       return sprintf(buf, "%d\n", (int)mc->inputs[value]);            \
+}                                                                      \
+static DEVICE_ATTR(input##value, S_IRUGO, show_input##value, NULL);
+
+show_input(0);
+show_input(1);
+show_input(2);
+show_input(3);
+
+static int motorcontrol_probe(struct usb_interface *intf, const struct usb_device_id *id)
+{
+       struct usb_device *dev = interface_to_usbdev(intf);
+       struct usb_host_interface *interface;
+       struct usb_endpoint_descriptor *endpoint;
+       struct motorcontrol *mc;
+       int pipe, maxp, rc = -ENOMEM;
+
+       interface = intf->cur_altsetting;
+       if (interface->desc.bNumEndpoints != 1)
+               return -ENODEV;
+
+       endpoint = &interface->endpoint[0].desc;
+       if (!(endpoint->bEndpointAddress & 0x80))
+               return -ENODEV;
+
+       /*
+        * bmAttributes
+        */
+       pipe = usb_rcvintpipe(dev, endpoint->bEndpointAddress);
+       maxp = usb_maxpacket(dev, pipe, usb_pipeout(pipe));
+
+       mc = kzalloc(sizeof(*mc), GFP_KERNEL);
+       if (!mc)
+               goto out;
+
+       mc->data = usb_buffer_alloc(dev, URB_INT_SIZE, SLAB_ATOMIC, &mc->data_dma);
+       if (!mc->data)
+               goto out;
+
+       mc->irq = usb_alloc_urb(0, GFP_KERNEL);
+       if (!mc->irq)
+               goto out;
+
+       mc->udev = usb_get_dev(dev);
+       mc->intf = intf;
+       mc->acceleration[0] = mc->acceleration[1] = 10;
+       INIT_WORK(&mc->do_notify, do_notify, mc);
+       usb_fill_int_urb(mc->irq, mc->udev, pipe, mc->data,
+                       maxp > URB_INT_SIZE ? URB_INT_SIZE : maxp,
+                       motorcontrol_irq, mc, endpoint->bInterval);
+       mc->irq->transfer_dma = mc->data_dma;
+       mc->irq->transfer_flags |= URB_NO_TRANSFER_DMA_MAP;
+
+       usb_set_intfdata(intf, mc);
+
+       if (usb_submit_urb(mc->irq, GFP_KERNEL)) {
+               rc = -EIO;
+               goto out;
+       }
+
+       device_create_file(&intf->dev, &dev_attr_input0);
+       device_create_file(&intf->dev, &dev_attr_input1);
+       device_create_file(&intf->dev, &dev_attr_input2);
+       device_create_file(&intf->dev, &dev_attr_input3);
+
+       device_create_file(&intf->dev, &dev_attr_speed0);
+       device_create_file(&intf->dev, &dev_attr_speed1);
+
+       device_create_file(&intf->dev, &dev_attr_acceleration0);
+       device_create_file(&intf->dev, &dev_attr_acceleration1);
+
+       device_create_file(&intf->dev, &dev_attr_current0);
+       device_create_file(&intf->dev, &dev_attr_current1);
+
+       dev_info(&intf->dev, "USB Phidget MotorControl attached\n");
+
+       return 0;
+
+out:
+       if (mc) {
+               if (mc->irq)
+                       usb_free_urb(mc->irq);
+               if (mc->data)
+                       usb_buffer_free(dev, URB_INT_SIZE, mc->data, mc->data_dma);
+               kfree(mc);
+       }
+
+       return rc;
+}
+
+static void motorcontrol_disconnect(struct usb_interface *interface)
+{
+       struct motorcontrol *mc;
+
+       mc = usb_get_intfdata(interface);
+       usb_set_intfdata(interface, NULL);
+       if (!mc)
+               return;
+
+       usb_kill_urb(mc->irq);
+       usb_free_urb(mc->irq);
+       usb_buffer_free(mc->udev, URB_INT_SIZE, mc->data, mc->data_dma);
+
+       cancel_delayed_work(&mc->do_notify);
+
+       device_remove_file(&interface->dev, &dev_attr_input0);
+       device_remove_file(&interface->dev, &dev_attr_input1);
+       device_remove_file(&interface->dev, &dev_attr_input2);
+       device_remove_file(&interface->dev, &dev_attr_input3);
+
+       device_remove_file(&interface->dev, &dev_attr_speed0);
+       device_remove_file(&interface->dev, &dev_attr_speed1);
+
+       device_remove_file(&interface->dev, &dev_attr_acceleration0);
+       device_remove_file(&interface->dev, &dev_attr_acceleration1);
+
+       device_remove_file(&interface->dev, &dev_attr_current0);
+       device_remove_file(&interface->dev, &dev_attr_current1);
+
+       dev_info(&interface->dev, "USB Phidget MotorControl disconnected\n");
+
+       usb_put_dev(mc->udev);
+       kfree(mc);
+}
+
+static struct usb_driver motorcontrol_driver = {
+       .name = "phidgetmotorcontrol",
+       .probe = motorcontrol_probe,
+       .disconnect = motorcontrol_disconnect,
+       .id_table = id_table
+};
+
+static int __init motorcontrol_init(void)
+{
+       int retval = 0;
+
+       retval = usb_register(&motorcontrol_driver);
+       if (retval)
+               err("usb_register failed. Error number %d", retval);
+
+       return retval;
+}
+
+static void __exit motorcontrol_exit(void)
+{
+       usb_deregister(&motorcontrol_driver);
+}
+
+module_init(motorcontrol_init);
+module_exit(motorcontrol_exit);
+
+MODULE_AUTHOR(DRIVER_AUTHOR);
+MODULE_DESCRIPTION(DRIVER_DESC);
+MODULE_LICENSE("GPL");