USB: Add driver for PhidgetMotorControl

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>

3 files changed, 441 insertions, 3 deletions

diff --git a/drivers/usb/misc/Kconfig b/drivers/usb/misc/Kconfig
index 88928a4..8affc13 100644
--- a/drivers/usb/misc/Kconfig
+++ b/drivers/usb/misc/Kconfig
@@ -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
diff --git a/drivers/usb/misc/Makefile b/drivers/usb/misc/Makefile
index 2927260..5f32917 100644
--- a/drivers/usb/misc/Makefile
+++ b/drivers/usb/misc/Makefile
@@ -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
index 0000000..2972dc2
--- /dev/null
+++ b/drivers/usb/misc/phidgetmotorcontrol.c
@@ -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");