summaryrefslogtreecommitdiffstats
path: root/drivers/usb/misc/phidgetservo.c
blob: b84eda631ab58488a7efe3fe35f6041b5fe1bec1 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
/*
 * USB PhidgetServo driver 1.0
 *
 * Copyright (C) 2004 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.
 *
 * Jun 16, 2004: Sean Young <sean@mess.org>
 *  - cleanups
 *  - was using memory after kfree()
 * Aug 8, 2004: Sean Young <sean@mess.org>
 *  - set the highest angle as high as the hardware allows, there are 
 *    some odd servos out there
 *
 */

#include <linux/config.h>
#ifdef CONFIG_USB_DEBUG
#define DEBUG	1
#endif
#include <linux/kernel.h>
#include <linux/errno.h>
#include <linux/init.h>
#include <linux/slab.h>
#include <linux/module.h>
#include <linux/usb.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);

struct phidget_servo {
	struct usb_device *udev;
	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 usb_interface *intf = to_usb_interface (dev);		\
	struct phidget_servo *servo = usb_get_intfdata (intf);		\
									\
	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 usb_interface *intf = to_usb_interface (dev);		\
	struct phidget_servo *servo = usb_get_intfdata (intf);		\
									\
	return sprintf (buf, "%d.%02d\n", servo->degrees[value],	\
				servo->minutes[value]);			\
}									\
static DEVICE_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 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;

	dev = kmalloc(sizeof (struct phidget_servo), GFP_KERNEL);
	if (dev == NULL) {
		dev_err(&interface->dev, "%s - out of memory\n", __FUNCTION__);
		return -ENOMEM;
	}
	memset(dev, 0x00, sizeof (*dev));

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

	device_create_file(&interface->dev, &dev_attr_servo0);
	if (dev->type & SERVO_COUNT_QUAD) {
		device_create_file(&interface->dev, &dev_attr_servo1);
		device_create_file(&interface->dev, &dev_attr_servo2);
		device_create_file(&interface->dev, &dev_attr_servo3);
	}

	dev_info(&interface->dev, "USB %d-Motor PhidgetServo v%d.0 attached\n",
		dev->type & SERVO_COUNT_QUAD ? 4 : 1,
		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;
}

static void
servo_disconnect(struct usb_interface *interface)
{
	struct phidget_servo *dev;

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

	device_remove_file(&interface->dev, &dev_attr_servo0);
	if (dev->type & SERVO_COUNT_QUAD) {
		device_remove_file(&interface->dev, &dev_attr_servo1);
		device_remove_file(&interface->dev, &dev_attr_servo2);
		device_remove_file(&interface->dev, &dev_attr_servo3);
	}

	usb_put_dev(dev->udev);

	dev_info(&interface->dev, "USB %d-Motor PhidgetServo v%d.0 detached\n",
		dev->type & SERVO_COUNT_QUAD ? 4 : 1,
		dev->type & SERVO_VERSION_30 ? 3 : 2);

	kfree(dev);
}

static struct usb_driver servo_driver = {
	.owner = THIS_MODULE,
	.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");
OpenPOWER on IntegriCloud