Commit d5176b41 authored by Sean Young's avatar Sean Young Committed by Greg Kroah-Hartman
Browse files

USB: Add driver for PhidgetMotorControl 



This driver add support for the Phidgets Inc., MotorControl via sysfs. Also
some minor fixes for the InterfaceKit.

Signed-off-by: default avatarSean Young <sean@mess.org>
Signed-off-by: default avatarGreg Kroah-Hartman <gregkh@suse.de>
parent b6eb2d84

drivers/usb/input/hid-core.c

+10 −2
Original line number Diff line number Diff line
@@ -1535,13 +1535,17 @@ void hid_init_reports(struct hid_device *hid) 
#define USB_VENDOR_ID_GLAB		0x06c2

#define USB_DEVICE_ID_4_PHIDGETSERVO_30	0x0038

#define USB_DEVICE_ID_1_PHIDGETSERVO_30	0x0039

#define USB_DEVICE_ID_8_8_8_IF_KIT	0x0045

#define USB_DEVICE_ID_0_0_4_IF_KIT	0x0040

#define USB_DEVICE_ID_0_16_16_IF_KIT	0x0044

#define USB_DEVICE_ID_8_8_8_IF_KIT	0x0045

#define USB_DEVICE_ID_0_8_7_IF_KIT	0x0051

#define USB_DEVICE_ID_0_8_8_IF_KIT	0x0053

#define USB_DEVICE_ID_PHIDGET_MOTORCONTROL	0x0058



#define USB_VENDOR_ID_WISEGROUP		0x0925

#define USB_DEVICE_ID_1_PHIDGETSERVO_20	0x8101

#define USB_DEVICE_ID_4_PHIDGETSERVO_20	0x8104

#define USB_DEVICE_ID_8_8_4_IF_KIT	0x8201

#define USB_DEVICE_ID_DUAL_USB_JOYPAD   0x8866



#define USB_VENDOR_ID_WISEGROUP_LTD	0x6677
@@ -1620,9 +1624,12 @@ static const struct hid_blacklist { 
	{ USB_VENDOR_ID_ESSENTIAL_REALITY, USB_DEVICE_ID_ESSENTIAL_REALITY_P5, HID_QUIRK_IGNORE },

	{ USB_VENDOR_ID_GLAB, USB_DEVICE_ID_4_PHIDGETSERVO_30, HID_QUIRK_IGNORE },

	{ USB_VENDOR_ID_GLAB, USB_DEVICE_ID_1_PHIDGETSERVO_30, HID_QUIRK_IGNORE },

	{ USB_VENDOR_ID_GLAB, USB_DEVICE_ID_8_8_8_IF_KIT, HID_QUIRK_IGNORE },

	{ USB_VENDOR_ID_GLAB, USB_DEVICE_ID_0_0_4_IF_KIT, HID_QUIRK_IGNORE },

	{ USB_VENDOR_ID_GLAB, USB_DEVICE_ID_0_16_16_IF_KIT, HID_QUIRK_IGNORE },

	{ USB_VENDOR_ID_GLAB, USB_DEVICE_ID_8_8_8_IF_KIT, HID_QUIRK_IGNORE },

	{ USB_VENDOR_ID_GLAB, USB_DEVICE_ID_0_8_7_IF_KIT, HID_QUIRK_IGNORE },

	{ USB_VENDOR_ID_GLAB, USB_DEVICE_ID_0_8_8_IF_KIT, HID_QUIRK_IGNORE },

	{ USB_VENDOR_ID_GLAB, USB_DEVICE_ID_PHIDGET_MOTORCONTROL, HID_QUIRK_IGNORE },

	{ USB_VENDOR_ID_GRIFFIN, USB_DEVICE_ID_POWERMATE, HID_QUIRK_IGNORE },

	{ USB_VENDOR_ID_GRIFFIN, USB_DEVICE_ID_SOUNDKNOB, HID_QUIRK_IGNORE },

	{ USB_VENDOR_ID_GTCO, USB_DEVICE_ID_GTCO_90, HID_QUIRK_IGNORE },
@@ -1701,6 +1708,7 @@ static const struct hid_blacklist { 
	{ USB_VENDOR_ID_VERNIER, USB_DEVICE_ID_VERNIER_CYCLOPS, HID_QUIRK_IGNORE },

	{ USB_VENDOR_ID_WISEGROUP, USB_DEVICE_ID_4_PHIDGETSERVO_20, HID_QUIRK_IGNORE },

	{ USB_VENDOR_ID_WISEGROUP, USB_DEVICE_ID_1_PHIDGETSERVO_20, HID_QUIRK_IGNORE },

	{ USB_VENDOR_ID_WISEGROUP, USB_DEVICE_ID_8_8_4_IF_KIT, HID_QUIRK_IGNORE },

	{ USB_VENDOR_ID_YEALINK, USB_DEVICE_ID_YEALINK_P1K_P4K_B2K, HID_QUIRK_IGNORE },



	{ USB_VENDOR_ID_ACECAD, USB_DEVICE_ID_ACECAD_FLAIR, HID_QUIRK_IGNORE },

drivers/usb/misc/Kconfig

+13 −3
Original line number Diff line number Diff line
@@ -116,15 +116,25 @@ config USB_CYTHERM 
	  module will be called cytherm.



config USB_PHIDGETKIT

	tristate "USB PhidgetKit support"

	tristate "USB PhidgetInterfaceKit support"

	depends on USB

	help

	  Say Y here if you want to connect a PhidgetKit USB device from

	  Phidgets Inc.

	  Say Y here if you want to connect a PhidgetInterfaceKit USB device

	  from Phidgets Inc.



	  To compile this driver as a module, choose M here: the

	  module will be called phidgetkit.



config USB_PHIDGETMOTORCONTROL

	tristate "USB PhidgetMotorControl support"

	depends on USB

	help

	  Say Y here if you want to connect a PhidgetMotorControl USB device

	  from Phidgets Inc.



	  To compile this driver as a module, choose M here: the

	  module will be called phidgetmotorcontrol.



config USB_PHIDGETSERVO

	tristate "USB PhidgetServo support"

	depends on USB

drivers/usb/misc/Makefile

+1 −0
Original line number Diff line number Diff line
@@ -14,6 +14,7 @@ obj-$(CONFIG_USB_LD) += ldusb.o 
obj-$(CONFIG_USB_LED)		+= usbled.o

obj-$(CONFIG_USB_LEGOTOWER)	+= legousbtower.o

obj-$(CONFIG_USB_PHIDGETKIT)	+= phidgetkit.o

obj-$(CONFIG_USB_PHIDGETMOTORCONTROL)	+= phidgetmotorcontrol.o

obj-$(CONFIG_USB_PHIDGETSERVO)	+= phidgetservo.o

obj-$(CONFIG_USB_RIO500)	+= rio500.o

obj-$(CONFIG_USB_TEST)		+= usbtest.o

drivers/usb/misc/phidgetmotorcontrol.c

0 → 100644
+427 −0
Original line number Diff line number Diff line 
/*

 * 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>



#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



struct motorcontrol {

	struct usb_device *udev;

	struct usb_interface *intf;

	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 work_struct 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", __FUNCTION__);

		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 pt_regs *regs)

{

	struct motorcontrol *mc = urb->context;

	unsigned char *buffer = mc->data;

	int i, level;

	int status;



	switch (urb->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_work(&mc->do_notify);



resubmit:

	status = usb_submit_urb(urb, SLAB_ATOMIC);

	if (status)

		dev_err(&mc->intf->dev,

			"can't resubmit intr, %s-%s/motorcontrol0, status %d",

			mc->udev->bus->bus_name,

			mc->udev->devpath, status);

}



static void do_notify(void *data)

{

	struct motorcontrol *mc = data;

	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->intf->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->intf->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 usb_interface *intf = to_usb_interface(dev);		\

	struct motorcontrol *mc = usb_get_intfdata(intf);		\

	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 usb_interface *intf = to_usb_interface(dev);		\

	struct motorcontrol *mc = usb_get_intfdata(intf);		\

									\

	return sprintf(buf, "%d\n", mc->speed[value]);			\

}									\

static DEVICE_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 usb_interface *intf = to_usb_interface(dev);		\

	struct motorcontrol *mc = usb_get_intfdata(intf);		\

	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 usb_interface *intf = to_usb_interface(dev);		\

	struct motorcontrol *mc = usb_get_intfdata(intf);		\

									\

	return sprintf(buf, "%d\n", mc->acceleration[value]);		\

}									\

static DEVICE_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 usb_interface *intf = to_usb_interface(dev);		\

	struct motorcontrol *mc = usb_get_intfdata(intf);		\

									\

	return sprintf(buf, "%dmA\n", (int)mc->_current[value]);	\

}									\

static DEVICE_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 usb_interface *intf = to_usb_interface(dev);		\

	struct motorcontrol *mc = usb_get_intfdata(intf);		\

									\

	return sprintf(buf, "%d\n", (int)mc->inputs[value]);		\

}									\

static DEVICE_ATTR(input##value, S_IRUGO, show_input##value, NULL);



show_input(0);

show_input(1);

show_input(2);

show_input(3);



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;



	interface = intf->cur_altsetting;

	if (interface->desc.bNumEndpoints != 1)

		return -ENODEV;



	endpoint = &interface->endpoint[0].desc;

	if (!(endpoint->bEndpointAddress & 0x80))

		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->data = usb_buffer_alloc(dev, URB_INT_SIZE, SLAB_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_WORK(&mc->do_notify, do_notify, mc);

	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);



	if (usb_submit_urb(mc->irq, GFP_KERNEL)) {

		rc = -EIO;

		goto out;

	}



	device_create_file(&intf->dev, &dev_attr_input0);

	device_create_file(&intf->dev, &dev_attr_input1);

	device_create_file(&intf->dev, &dev_attr_input2);

	device_create_file(&intf->dev, &dev_attr_input3);



	device_create_file(&intf->dev, &dev_attr_speed0);

	device_create_file(&intf->dev, &dev_attr_speed1);



	device_create_file(&intf->dev, &dev_attr_acceleration0);

	device_create_file(&intf->dev, &dev_attr_acceleration1);



	device_create_file(&intf->dev, &dev_attr_current0);

	device_create_file(&intf->dev, &dev_attr_current1);



	dev_info(&intf->dev, "USB Phidget MotorControl attached\n");



	return 0;



out:

	if (mc) {

		if (mc->irq)

			usb_free_urb(mc->irq);

		if (mc->data)

			usb_buffer_free(dev, URB_INT_SIZE, mc->data, mc->data_dma);

		kfree(mc);

	}



	return rc;

}



static void motorcontrol_disconnect(struct usb_interface *interface)

{

	struct motorcontrol *mc;



	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);



	device_remove_file(&interface->dev, &dev_attr_input0);

	device_remove_file(&interface->dev, &dev_attr_input1);

	device_remove_file(&interface->dev, &dev_attr_input2);

	device_remove_file(&interface->dev, &dev_attr_input3);



	device_remove_file(&interface->dev, &dev_attr_speed0);

	device_remove_file(&interface->dev, &dev_attr_speed1);



	device_remove_file(&interface->dev, &dev_attr_acceleration0);

	device_remove_file(&interface->dev, &dev_attr_acceleration1);



	device_remove_file(&interface->dev, &dev_attr_current0);

	device_remove_file(&interface->dev, &dev_attr_current1);



	dev_info(&interface->dev, "USB Phidget MotorControl disconnected\n");



	usb_put_dev(mc->udev);

	kfree(mc);

}



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");