/* * 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");