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path: root/drivers/usb/misc/phidgetmotorcontrol.c
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Diffstat (limited to 'drivers/usb/misc/phidgetmotorcontrol.c')
-rw-r--r--drivers/usb/misc/phidgetmotorcontrol.c465
1 files changed, 0 insertions, 465 deletions
diff --git a/drivers/usb/misc/phidgetmotorcontrol.c b/drivers/usb/misc/phidgetmotorcontrol.c
deleted file mode 100644
index 38088b4..0000000
--- a/drivers/usb/misc/phidgetmotorcontrol.c
+++ /dev/null
@@ -1,465 +0,0 @@
-/*
- * 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>
-
-#include "phidget.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
-
-static unsigned long device_no;
-
-struct motorcontrol {
- struct usb_device *udev;
- struct usb_interface *intf;
- struct device *dev;
- int dev_no;
- 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 delayed_work 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", __func__);
- 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 motorcontrol *mc = urb->context;
- unsigned char *buffer = mc->data;
- int i, level;
- int retval;
- int status = urb->status;;
-
- switch (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_delayed_work(&mc->do_notify, 0);
-
-resubmit:
- retval = usb_submit_urb(urb, GFP_ATOMIC);
- if (retval)
- dev_err(&mc->intf->dev,
- "can't resubmit intr, %s-%s/motorcontrol0, retval %d\n",
- mc->udev->bus->bus_name,
- mc->udev->devpath, retval);
-}
-
-static void do_notify(struct work_struct *work)
-{
- struct motorcontrol *mc =
- container_of(work, struct motorcontrol, do_notify.work);
- 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->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->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 motorcontrol *mc = dev_get_drvdata(dev); \
- 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 motorcontrol *mc = dev_get_drvdata(dev); \
- \
- return sprintf(buf, "%d\n", mc->speed[value]); \
-}
-
-#define speed_attr(value) \
- __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 motorcontrol *mc = dev_get_drvdata(dev); \
- 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 motorcontrol *mc = dev_get_drvdata(dev); \
- \
- return sprintf(buf, "%d\n", mc->acceleration[value]); \
-}
-
-#define acceleration_attr(value) \
- __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 motorcontrol *mc = dev_get_drvdata(dev); \
- \
- return sprintf(buf, "%dmA\n", (int)mc->_current[value]); \
-}
-
-#define current_attr(value) \
- __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 motorcontrol *mc = dev_get_drvdata(dev); \
- \
- return sprintf(buf, "%d\n", (int)mc->inputs[value]); \
-}
-
-#define input_attr(value) \
- __ATTR(input##value, S_IRUGO, show_input##value, NULL)
-
-show_input(0);
-show_input(1);
-show_input(2);
-show_input(3);
-
-static struct device_attribute dev_attrs[] = {
- input_attr(0),
- input_attr(1),
- input_attr(2),
- input_attr(3),
- speed_attr(0),
- speed_attr(1),
- acceleration_attr(0),
- acceleration_attr(1),
- current_attr(0),
- current_attr(1)
-};
-
-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;
- int bit, value, i;
-
- interface = intf->cur_altsetting;
- if (interface->desc.bNumEndpoints != 1)
- return -ENODEV;
-
- endpoint = &interface->endpoint[0].desc;
- if (!usb_endpoint_dir_in(endpoint))
- 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->dev_no = -1;
- mc->data = usb_buffer_alloc(dev, URB_INT_SIZE, GFP_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_DELAYED_WORK(&mc->do_notify, do_notify);
- 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);
-
- do {
- bit = find_first_zero_bit(&device_no, sizeof(device_no));
- value = test_and_set_bit(bit, &device_no);
- } while(value);
- mc->dev_no = bit;
-
- mc->dev = device_create(phidget_class, &mc->udev->dev, MKDEV(0, 0), mc,
- "motorcontrol%d", mc->dev_no);
- if (IS_ERR(mc->dev)) {
- rc = PTR_ERR(mc->dev);
- mc->dev = NULL;
- goto out;
- }
-
- if (usb_submit_urb(mc->irq, GFP_KERNEL)) {
- rc = -EIO;
- goto out;
- }
-
- for (i=0; i<ARRAY_SIZE(dev_attrs); i++) {
- rc = device_create_file(mc->dev, &dev_attrs[i]);
- if (rc)
- goto out2;
- }
-
- dev_info(&intf->dev, "USB PhidgetMotorControl attached\n");
-
- return 0;
-out2:
- while (i-- > 0)
- device_remove_file(mc->dev, &dev_attrs[i]);
-out:
- if (mc) {
- usb_free_urb(mc->irq);
- if (mc->data)
- usb_buffer_free(dev, URB_INT_SIZE, mc->data, mc->data_dma);
- if (mc->dev)
- device_unregister(mc->dev);
- if (mc->dev_no >= 0)
- clear_bit(mc->dev_no, &device_no);
-
- kfree(mc);
- }
-
- return rc;
-}
-
-static void motorcontrol_disconnect(struct usb_interface *interface)
-{
- struct motorcontrol *mc;
- int i;
-
- 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);
-
- for (i=0; i<ARRAY_SIZE(dev_attrs); i++)
- device_remove_file(mc->dev, &dev_attrs[i]);
-
- device_unregister(mc->dev);
-
- usb_put_dev(mc->udev);
- clear_bit(mc->dev_no, &device_no);
- kfree(mc);
-
- dev_info(&interface->dev, "USB PhidgetMotorControl detached\n");
-}
-
-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");
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