343 lines
8.4 KiB
C
343 lines
8.4 KiB
C
/*
|
|
* 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, \
|
|
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", °rees, &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, 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");
|