bc552f7715
This new version guarantees amb_bit switch in small enough intervals, so that the device won't stop working in the middle of a movement anymore. However it preserves old (openhaptics) functionality. Signed-off-by: Jiri Slaby <jirislaby@gmail.com> Signed-off-by: Andrew Morton <akpm@linux-foundation.org> Signed-off-by: Linus Torvalds <torvalds@linux-foundation.org>
47 lines
1.3 KiB
C
47 lines
1.3 KiB
C
/*
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* Copyright (C) 2005-2007 Jiri Slaby <jirislaby@gmail.com>
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*/
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#ifndef __PHANTOM_H
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#define __PHANTOM_H
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#include <asm/types.h>
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/* PHN_(G/S)ET_REG param */
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struct phm_reg {
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__u32 reg;
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__u32 value;
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};
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/* PHN_(G/S)ET_REGS param */
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struct phm_regs {
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__u32 count;
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__u32 mask;
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__u32 values[8];
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};
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#define PH_IOC_MAGIC 'p'
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#define PHN_GET_REG _IOWR(PH_IOC_MAGIC, 0, struct phm_reg *)
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#define PHN_SET_REG _IOW (PH_IOC_MAGIC, 1, struct phm_reg *)
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#define PHN_GET_REGS _IOWR(PH_IOC_MAGIC, 2, struct phm_regs *)
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#define PHN_SET_REGS _IOW (PH_IOC_MAGIC, 3, struct phm_regs *)
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/* this ioctl tells the driver, that the caller is not OpenHaptics and might
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* use improved registers update (no more phantom switchoffs when using
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* libphantom) */
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#define PHN_NOT_OH _IO (PH_IOC_MAGIC, 4)
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#define PH_IOC_MAXNR 4
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#define PHN_CONTROL 0x6 /* control byte in iaddr space */
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#define PHN_CTL_AMP 0x1 /* switch after torques change */
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#define PHN_CTL_BUT 0x2 /* is button switched */
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#define PHN_CTL_IRQ 0x10 /* is irq enabled */
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#define PHN_ZERO_FORCE 2048 /* zero torque on motor */
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#endif
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