466 lines
11 KiB
C
466 lines
11 KiB
C
/*
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* USB Phidget MotorControl driver
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*
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* Copyright (C) 2006 Sean Young <sean@mess.org>
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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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#include <linux/kernel.h>
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#include <linux/errno.h>
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#include <linux/init.h>
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#include <linux/module.h>
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#include <linux/usb.h>
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#include "phidget.h"
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#define DRIVER_AUTHOR "Sean Young <sean@mess.org>"
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#define DRIVER_DESC "USB PhidgetMotorControl Driver"
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#define USB_VENDOR_ID_GLAB 0x06c2
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#define USB_DEVICE_ID_MOTORCONTROL 0x0058
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#define URB_INT_SIZE 8
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static unsigned long device_no;
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struct motorcontrol {
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struct usb_device *udev;
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struct usb_interface *intf;
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struct device *dev;
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int dev_no;
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u8 inputs[4];
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s8 desired_speed[2];
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s8 speed[2];
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s16 _current[2];
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s8 acceleration[2];
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struct urb *irq;
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unsigned char *data;
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dma_addr_t data_dma;
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struct delayed_work do_notify;
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unsigned long input_events;
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unsigned long speed_events;
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unsigned long exceed_events;
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};
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static struct usb_device_id id_table[] = {
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{ USB_DEVICE(USB_VENDOR_ID_GLAB, USB_DEVICE_ID_MOTORCONTROL) },
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{}
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};
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MODULE_DEVICE_TABLE(usb, id_table);
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static int set_motor(struct motorcontrol *mc, int motor)
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{
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u8 *buffer;
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int speed, speed2, acceleration;
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int retval;
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buffer = kzalloc(8, GFP_KERNEL);
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if (!buffer) {
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dev_err(&mc->intf->dev, "%s - out of memory\n", __func__);
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return -ENOMEM;
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}
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acceleration = mc->acceleration[motor] * 10;
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/* -127 <= speed <= 127 */
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speed = (mc->desired_speed[motor] * 127) / 100;
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/* -0x7300 <= speed2 <= 0x7300 */
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speed2 = (mc->desired_speed[motor] * 230 * 128) / 100;
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buffer[0] = motor;
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buffer[1] = speed;
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buffer[2] = acceleration >> 8;
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buffer[3] = acceleration;
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buffer[4] = speed2 >> 8;
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buffer[5] = speed2;
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retval = usb_control_msg(mc->udev,
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usb_sndctrlpipe(mc->udev, 0),
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0x09, 0x21, 0x0200, 0x0000, buffer, 8, 2000);
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if (retval != 8)
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dev_err(&mc->intf->dev, "usb_control_msg returned %d\n",
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retval);
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kfree(buffer);
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return retval < 0 ? retval : 0;
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}
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static void motorcontrol_irq(struct urb *urb)
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{
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struct motorcontrol *mc = urb->context;
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unsigned char *buffer = mc->data;
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int i, level;
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int retval;
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int status = urb->status;;
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switch (status) {
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case 0: /* success */
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break;
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case -ECONNRESET: /* unlink */
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case -ENOENT:
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case -ESHUTDOWN:
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return;
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/* -EPIPE: should clear the halt */
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default: /* error */
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goto resubmit;
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}
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/* digital inputs */
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for (i=0; i<4; i++) {
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level = (buffer[0] >> i) & 1;
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if (mc->inputs[i] != level) {
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mc->inputs[i] = level;
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set_bit(i, &mc->input_events);
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}
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}
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/* motor speed */
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if (buffer[2] == 0) {
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for (i=0; i<2; i++) {
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level = ((s8)buffer[4+i]) * 100 / 127;
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if (mc->speed[i] != level) {
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mc->speed[i] = level;
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set_bit(i, &mc->speed_events);
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}
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}
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} else {
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int index = buffer[3] & 1;
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level = ((s8)buffer[4] << 8) | buffer[5];
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level = level * 100 / 29440;
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if (mc->speed[index] != level) {
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mc->speed[index] = level;
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set_bit(index, &mc->speed_events);
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}
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level = ((s8)buffer[6] << 8) | buffer[7];
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mc->_current[index] = level * 100 / 1572;
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}
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if (buffer[1] & 1)
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set_bit(0, &mc->exceed_events);
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if (buffer[1] & 2)
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set_bit(1, &mc->exceed_events);
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if (mc->input_events || mc->exceed_events || mc->speed_events)
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schedule_delayed_work(&mc->do_notify, 0);
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resubmit:
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retval = usb_submit_urb(urb, GFP_ATOMIC);
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if (retval)
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dev_err(&mc->intf->dev,
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"can't resubmit intr, %s-%s/motorcontrol0, retval %d\n",
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mc->udev->bus->bus_name,
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mc->udev->devpath, retval);
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}
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static void do_notify(struct work_struct *work)
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{
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struct motorcontrol *mc =
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container_of(work, struct motorcontrol, do_notify.work);
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int i;
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char sysfs_file[8];
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for (i=0; i<4; i++) {
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if (test_and_clear_bit(i, &mc->input_events)) {
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sprintf(sysfs_file, "input%d", i);
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sysfs_notify(&mc->dev->kobj, NULL, sysfs_file);
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}
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}
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for (i=0; i<2; i++) {
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if (test_and_clear_bit(i, &mc->speed_events)) {
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sprintf(sysfs_file, "speed%d", i);
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sysfs_notify(&mc->dev->kobj, NULL, sysfs_file);
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}
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}
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for (i=0; i<2; i++) {
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if (test_and_clear_bit(i, &mc->exceed_events))
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dev_warn(&mc->intf->dev,
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"motor #%d exceeds 1.5 Amp current limit\n", i);
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}
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}
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#define show_set_speed(value) \
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static ssize_t set_speed##value(struct device *dev, \
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struct device_attribute *attr, \
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const char *buf, size_t count) \
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{ \
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struct motorcontrol *mc = dev_get_drvdata(dev); \
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int speed; \
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int retval; \
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\
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if (sscanf(buf, "%d", &speed) < 1) \
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return -EINVAL; \
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\
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if (speed < -100 || speed > 100) \
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return -EINVAL; \
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\
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mc->desired_speed[value] = speed; \
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\
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retval = set_motor(mc, value); \
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\
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return retval ? retval : count; \
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} \
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\
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static ssize_t show_speed##value(struct device *dev, \
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struct device_attribute *attr, \
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char *buf) \
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{ \
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struct motorcontrol *mc = dev_get_drvdata(dev); \
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\
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return sprintf(buf, "%d\n", mc->speed[value]); \
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}
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#define speed_attr(value) \
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__ATTR(speed##value, S_IWUGO | S_IRUGO, \
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show_speed##value, set_speed##value)
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show_set_speed(0);
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show_set_speed(1);
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#define show_set_acceleration(value) \
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static ssize_t set_acceleration##value(struct device *dev, \
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struct device_attribute *attr, \
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const char *buf, size_t count) \
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{ \
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struct motorcontrol *mc = dev_get_drvdata(dev); \
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int acceleration; \
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int retval; \
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\
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if (sscanf(buf, "%d", &acceleration) < 1) \
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return -EINVAL; \
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\
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if (acceleration < 0 || acceleration > 100) \
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return -EINVAL; \
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\
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mc->acceleration[value] = acceleration; \
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\
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retval = set_motor(mc, value); \
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\
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return retval ? retval : count; \
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} \
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\
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static ssize_t show_acceleration##value(struct device *dev, \
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struct device_attribute *attr, \
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char *buf) \
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{ \
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struct motorcontrol *mc = dev_get_drvdata(dev); \
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\
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return sprintf(buf, "%d\n", mc->acceleration[value]); \
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}
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#define acceleration_attr(value) \
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__ATTR(acceleration##value, S_IWUGO | S_IRUGO, \
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show_acceleration##value, set_acceleration##value)
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show_set_acceleration(0);
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show_set_acceleration(1);
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#define show_current(value) \
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static ssize_t show_current##value(struct device *dev, \
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struct device_attribute *attr, \
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char *buf) \
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{ \
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struct motorcontrol *mc = dev_get_drvdata(dev); \
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\
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return sprintf(buf, "%dmA\n", (int)mc->_current[value]); \
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}
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#define current_attr(value) \
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__ATTR(current##value, S_IRUGO, show_current##value, NULL)
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show_current(0);
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show_current(1);
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#define show_input(value) \
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static ssize_t show_input##value(struct device *dev, \
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struct device_attribute *attr, \
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char *buf) \
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{ \
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struct motorcontrol *mc = dev_get_drvdata(dev); \
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\
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return sprintf(buf, "%d\n", (int)mc->inputs[value]); \
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}
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#define input_attr(value) \
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__ATTR(input##value, S_IRUGO, show_input##value, NULL)
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show_input(0);
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show_input(1);
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show_input(2);
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show_input(3);
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static struct device_attribute dev_attrs[] = {
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input_attr(0),
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input_attr(1),
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input_attr(2),
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input_attr(3),
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speed_attr(0),
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speed_attr(1),
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acceleration_attr(0),
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acceleration_attr(1),
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current_attr(0),
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current_attr(1)
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};
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static int motorcontrol_probe(struct usb_interface *intf, const struct usb_device_id *id)
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{
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struct usb_device *dev = interface_to_usbdev(intf);
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struct usb_host_interface *interface;
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struct usb_endpoint_descriptor *endpoint;
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struct motorcontrol *mc;
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int pipe, maxp, rc = -ENOMEM;
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int bit, value, i;
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interface = intf->cur_altsetting;
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if (interface->desc.bNumEndpoints != 1)
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return -ENODEV;
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endpoint = &interface->endpoint[0].desc;
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if (!usb_endpoint_dir_in(endpoint))
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return -ENODEV;
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/*
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* bmAttributes
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*/
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pipe = usb_rcvintpipe(dev, endpoint->bEndpointAddress);
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maxp = usb_maxpacket(dev, pipe, usb_pipeout(pipe));
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mc = kzalloc(sizeof(*mc), GFP_KERNEL);
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if (!mc)
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goto out;
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mc->dev_no = -1;
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mc->data = usb_buffer_alloc(dev, URB_INT_SIZE, GFP_ATOMIC, &mc->data_dma);
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if (!mc->data)
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goto out;
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mc->irq = usb_alloc_urb(0, GFP_KERNEL);
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if (!mc->irq)
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goto out;
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mc->udev = usb_get_dev(dev);
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mc->intf = intf;
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mc->acceleration[0] = mc->acceleration[1] = 10;
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INIT_DELAYED_WORK(&mc->do_notify, do_notify);
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usb_fill_int_urb(mc->irq, mc->udev, pipe, mc->data,
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maxp > URB_INT_SIZE ? URB_INT_SIZE : maxp,
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motorcontrol_irq, mc, endpoint->bInterval);
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mc->irq->transfer_dma = mc->data_dma;
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mc->irq->transfer_flags |= URB_NO_TRANSFER_DMA_MAP;
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usb_set_intfdata(intf, mc);
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do {
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bit = find_first_zero_bit(&device_no, sizeof(device_no));
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value = test_and_set_bit(bit, &device_no);
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} while(value);
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mc->dev_no = bit;
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mc->dev = device_create(phidget_class, &mc->udev->dev, MKDEV(0, 0), mc,
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"motorcontrol%d", mc->dev_no);
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if (IS_ERR(mc->dev)) {
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rc = PTR_ERR(mc->dev);
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mc->dev = NULL;
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goto out;
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}
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if (usb_submit_urb(mc->irq, GFP_KERNEL)) {
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rc = -EIO;
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goto out;
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}
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for (i=0; i<ARRAY_SIZE(dev_attrs); i++) {
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rc = device_create_file(mc->dev, &dev_attrs[i]);
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if (rc)
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goto out2;
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}
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dev_info(&intf->dev, "USB PhidgetMotorControl attached\n");
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return 0;
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out2:
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while (i-- > 0)
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device_remove_file(mc->dev, &dev_attrs[i]);
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out:
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if (mc) {
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usb_free_urb(mc->irq);
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if (mc->data)
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usb_buffer_free(dev, URB_INT_SIZE, mc->data, mc->data_dma);
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if (mc->dev)
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device_unregister(mc->dev);
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if (mc->dev_no >= 0)
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clear_bit(mc->dev_no, &device_no);
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kfree(mc);
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}
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return rc;
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}
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static void motorcontrol_disconnect(struct usb_interface *interface)
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{
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struct motorcontrol *mc;
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int i;
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mc = usb_get_intfdata(interface);
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usb_set_intfdata(interface, NULL);
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if (!mc)
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return;
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usb_kill_urb(mc->irq);
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usb_free_urb(mc->irq);
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usb_buffer_free(mc->udev, URB_INT_SIZE, mc->data, mc->data_dma);
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cancel_delayed_work(&mc->do_notify);
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for (i=0; i<ARRAY_SIZE(dev_attrs); i++)
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device_remove_file(mc->dev, &dev_attrs[i]);
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device_unregister(mc->dev);
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usb_put_dev(mc->udev);
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clear_bit(mc->dev_no, &device_no);
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kfree(mc);
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dev_info(&interface->dev, "USB PhidgetMotorControl detached\n");
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}
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static struct usb_driver motorcontrol_driver = {
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.name = "phidgetmotorcontrol",
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.probe = motorcontrol_probe,
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.disconnect = motorcontrol_disconnect,
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.id_table = id_table
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};
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static int __init motorcontrol_init(void)
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{
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int retval = 0;
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retval = usb_register(&motorcontrol_driver);
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if (retval)
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err("usb_register failed. Error number %d", retval);
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return retval;
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}
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static void __exit motorcontrol_exit(void)
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{
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usb_deregister(&motorcontrol_driver);
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}
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module_init(motorcontrol_init);
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module_exit(motorcontrol_exit);
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MODULE_AUTHOR(DRIVER_AUTHOR);
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MODULE_DESCRIPTION(DRIVER_DESC);
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MODULE_LICENSE("GPL");
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