Merge master.kernel.org:/pub/scm/linux/kernel/git/wim/linux-2.6-watchdog
[linux-2.6] / drivers / usb / misc / phidgetmotorcontrol.c
1 /*
2  * USB Phidget MotorControl driver
3  *
4  * Copyright (C) 2006  Sean Young <sean@mess.org>
5  *
6  * This program is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2 of the License, or
9  * (at your option) any later version.
10  */
11
12 #include <linux/kernel.h>
13 #include <linux/errno.h>
14 #include <linux/init.h>
15 #include <linux/module.h>
16 #include <linux/usb.h>
17
18 #include "phidget.h"
19
20 #define DRIVER_AUTHOR "Sean Young <sean@mess.org>"
21 #define DRIVER_DESC "USB PhidgetMotorControl Driver"
22
23 #define USB_VENDOR_ID_GLAB              0x06c2
24 #define USB_DEVICE_ID_MOTORCONTROL      0x0058
25
26 #define URB_INT_SIZE                    8
27
28 static unsigned long device_no;
29
30 struct motorcontrol {
31         struct usb_device *udev;
32         struct usb_interface *intf;
33         struct device *dev;
34         int dev_no;
35         u8 inputs[4];
36         s8 desired_speed[2];
37         s8 speed[2];
38         s16 _current[2];
39         s8 acceleration[2];
40         struct urb *irq;
41         unsigned char *data;
42         dma_addr_t data_dma;
43
44         struct delayed_work do_notify;
45         unsigned long input_events;
46         unsigned long speed_events;
47         unsigned long exceed_events;
48 };
49
50 static struct usb_device_id id_table[] = {
51         { USB_DEVICE(USB_VENDOR_ID_GLAB, USB_DEVICE_ID_MOTORCONTROL) },
52         {}
53 };
54 MODULE_DEVICE_TABLE(usb, id_table);
55
56 static int set_motor(struct motorcontrol *mc, int motor)
57 {
58         u8 *buffer;
59         int speed, speed2, acceleration;
60         int retval;
61
62         buffer = kzalloc(8, GFP_KERNEL);
63         if (!buffer) {
64                 dev_err(&mc->intf->dev, "%s - out of memory\n", __FUNCTION__);
65                 return -ENOMEM;
66         }
67
68         acceleration = mc->acceleration[motor] * 10;
69         /* -127 <= speed <= 127 */
70         speed = (mc->desired_speed[motor] * 127) / 100;
71         /* -0x7300 <= speed2 <= 0x7300 */
72         speed2 = (mc->desired_speed[motor] * 230 * 128) / 100;
73
74         buffer[0] = motor;
75         buffer[1] = speed;
76         buffer[2] = acceleration >> 8;
77         buffer[3] = acceleration;
78         buffer[4] = speed2 >> 8;
79         buffer[5] = speed2;
80
81         retval = usb_control_msg(mc->udev,
82                          usb_sndctrlpipe(mc->udev, 0),
83                          0x09, 0x21, 0x0200, 0x0000, buffer, 8, 2000);
84
85         if (retval != 8)
86                 dev_err(&mc->intf->dev, "usb_control_msg returned %d\n",
87                                 retval);
88         kfree(buffer);
89
90         return retval < 0 ? retval : 0;
91 }
92
93 static void motorcontrol_irq(struct urb *urb)
94 {
95         struct motorcontrol *mc = urb->context;
96         unsigned char *buffer = mc->data;
97         int i, level;
98         int status;
99
100         switch (urb->status) {
101         case 0:                 /* success */
102                 break;
103         case -ECONNRESET:       /* unlink */
104         case -ENOENT:
105         case -ESHUTDOWN:
106                 return;
107         /* -EPIPE:  should clear the halt */
108         default:                /* error */
109                 goto resubmit;
110         }
111
112         /* digital inputs */
113         for (i=0; i<4; i++) {
114                 level = (buffer[0] >> i) & 1;
115                 if (mc->inputs[i] != level) {
116                         mc->inputs[i] = level;
117                         set_bit(i, &mc->input_events);
118                 }
119         }
120
121         /* motor speed */
122         if (buffer[2] == 0) {
123                 for (i=0; i<2; i++) {
124                 level = ((s8)buffer[4+i]) * 100 / 127;
125                         if (mc->speed[i] != level) {
126                                 mc->speed[i] = level;
127                                 set_bit(i, &mc->speed_events);
128                         }
129                 }
130         } else {
131                 int index = buffer[3] & 1;
132
133                 level = ((s8)buffer[4] << 8) | buffer[5];
134                 level = level * 100 / 29440;
135                 if (mc->speed[index] != level) {
136                         mc->speed[index] = level;
137                         set_bit(index, &mc->speed_events);
138                 }
139
140                 level = ((s8)buffer[6] << 8) | buffer[7];
141                 mc->_current[index] = level * 100 / 1572;
142         }
143
144         if (buffer[1] & 1)
145                 set_bit(0, &mc->exceed_events);
146
147         if (buffer[1] & 2)
148                 set_bit(1, &mc->exceed_events);
149
150         if (mc->input_events || mc->exceed_events || mc->speed_events)
151                 schedule_delayed_work(&mc->do_notify, 0);
152
153 resubmit:
154         status = usb_submit_urb(urb, GFP_ATOMIC);
155         if (status)
156                 dev_err(&mc->intf->dev,
157                         "can't resubmit intr, %s-%s/motorcontrol0, status %d",
158                         mc->udev->bus->bus_name,
159                         mc->udev->devpath, status);
160 }
161
162 static void do_notify(struct work_struct *work)
163 {
164         struct motorcontrol *mc =
165                 container_of(work, struct motorcontrol, do_notify.work);
166         int i;
167         char sysfs_file[8];
168
169         for (i=0; i<4; i++) {
170                 if (test_and_clear_bit(i, &mc->input_events)) {
171                         sprintf(sysfs_file, "input%d", i);
172                         sysfs_notify(&mc->dev->kobj, NULL, sysfs_file);
173                 }
174         }
175
176         for (i=0; i<2; i++) {
177                 if (test_and_clear_bit(i, &mc->speed_events)) {
178                         sprintf(sysfs_file, "speed%d", i);
179                         sysfs_notify(&mc->dev->kobj, NULL, sysfs_file);
180                 }
181         }
182
183         for (i=0; i<2; i++) {
184                 if (test_and_clear_bit(i, &mc->exceed_events))
185                         dev_warn(&mc->intf->dev,
186                                 "motor #%d exceeds 1.5 Amp current limit\n", i);
187         }
188 }
189
190 #define show_set_speed(value)           \
191 static ssize_t set_speed##value(struct device *dev,                     \
192                                         struct device_attribute *attr,  \
193                                         const char *buf, size_t count)  \
194 {                                                                       \
195         struct motorcontrol *mc = dev_get_drvdata(dev);                 \
196         int speed;                                                      \
197         int retval;                                                     \
198                                                                         \
199         if (sscanf(buf, "%d", &speed) < 1)                              \
200                 return -EINVAL;                                         \
201                                                                         \
202         if (speed < -100 || speed > 100)                                \
203                 return -EINVAL;                                         \
204                                                                         \
205         mc->desired_speed[value] = speed;                               \
206                                                                         \
207         retval = set_motor(mc, value);                                  \
208                                                                         \
209         return retval ? retval : count;                                 \
210 }                                                                       \
211                                                                         \
212 static ssize_t show_speed##value(struct device *dev,                    \
213                                         struct device_attribute *attr,  \
214                                         char *buf)                      \
215 {                                                                       \
216         struct motorcontrol *mc = dev_get_drvdata(dev);                 \
217                                                                         \
218         return sprintf(buf, "%d\n", mc->speed[value]);                  \
219 }
220
221 #define speed_attr(value)                                               \
222         __ATTR(speed##value, S_IWUGO | S_IRUGO,                         \
223                 show_speed##value, set_speed##value)
224
225 show_set_speed(0);
226 show_set_speed(1);
227
228 #define show_set_acceleration(value)            \
229 static ssize_t set_acceleration##value(struct device *dev,              \
230                                         struct device_attribute *attr,  \
231                                         const char *buf, size_t count)  \
232 {                                                                       \
233         struct motorcontrol *mc = dev_get_drvdata(dev);                 \
234         int acceleration;                                               \
235         int retval;                                                     \
236                                                                         \
237         if (sscanf(buf, "%d", &acceleration) < 1)                       \
238                 return -EINVAL;                                         \
239                                                                         \
240         if (acceleration < 0 || acceleration > 100)                     \
241                 return -EINVAL;                                         \
242                                                                         \
243         mc->acceleration[value] = acceleration;                         \
244                                                                         \
245         retval = set_motor(mc, value);                                  \
246                                                                         \
247         return retval ? retval : count;                                 \
248 }                                                                       \
249                                                                         \
250 static ssize_t show_acceleration##value(struct device *dev,             \
251                                         struct device_attribute *attr,  \
252                                                         char *buf)      \
253 {                                                                       \
254         struct motorcontrol *mc = dev_get_drvdata(dev);                 \
255                                                                         \
256         return sprintf(buf, "%d\n", mc->acceleration[value]);           \
257 }
258
259 #define acceleration_attr(value)        \
260         __ATTR(acceleration##value, S_IWUGO | S_IRUGO,                  \
261                 show_acceleration##value, set_acceleration##value)
262
263 show_set_acceleration(0);
264 show_set_acceleration(1);
265
266 #define show_current(value)     \
267 static ssize_t show_current##value(struct device *dev,                  \
268                                         struct device_attribute *attr,  \
269                                         char *buf)                      \
270 {                                                                       \
271         struct motorcontrol *mc = dev_get_drvdata(dev);                 \
272                                                                         \
273         return sprintf(buf, "%dmA\n", (int)mc->_current[value]);        \
274 }
275
276 #define current_attr(value)     \
277         __ATTR(current##value, S_IRUGO, show_current##value, NULL)
278
279 show_current(0);
280 show_current(1);
281
282 #define show_input(value)       \
283 static ssize_t show_input##value(struct device *dev,                    \
284                                         struct device_attribute *attr,  \
285                                         char *buf)                      \
286 {                                                                       \
287         struct motorcontrol *mc = dev_get_drvdata(dev);                 \
288                                                                         \
289         return sprintf(buf, "%d\n", (int)mc->inputs[value]);            \
290 }
291
292 #define input_attr(value)       \
293         __ATTR(input##value, S_IRUGO, show_input##value, NULL)
294
295 show_input(0);
296 show_input(1);
297 show_input(2);
298 show_input(3);
299
300 static struct device_attribute dev_attrs[] = {
301         input_attr(0),
302         input_attr(1),
303         input_attr(2),
304         input_attr(3),
305         speed_attr(0),
306         speed_attr(1),
307         acceleration_attr(0),
308         acceleration_attr(1),
309         current_attr(0),
310         current_attr(1)
311 };
312
313 static int motorcontrol_probe(struct usb_interface *intf, const struct usb_device_id *id)
314 {
315         struct usb_device *dev = interface_to_usbdev(intf);
316         struct usb_host_interface *interface;
317         struct usb_endpoint_descriptor *endpoint;
318         struct motorcontrol *mc;
319         int pipe, maxp, rc = -ENOMEM;
320         int bit, value, i;
321
322         interface = intf->cur_altsetting;
323         if (interface->desc.bNumEndpoints != 1)
324                 return -ENODEV;
325
326         endpoint = &interface->endpoint[0].desc;
327         if (!usb_endpoint_dir_in(endpoint))
328                 return -ENODEV;
329
330         /*
331          * bmAttributes
332          */
333         pipe = usb_rcvintpipe(dev, endpoint->bEndpointAddress);
334         maxp = usb_maxpacket(dev, pipe, usb_pipeout(pipe));
335
336         mc = kzalloc(sizeof(*mc), GFP_KERNEL);
337         if (!mc)
338                 goto out;
339
340         mc->dev_no = -1;
341         mc->data = usb_buffer_alloc(dev, URB_INT_SIZE, GFP_ATOMIC, &mc->data_dma);
342         if (!mc->data)
343                 goto out;
344
345         mc->irq = usb_alloc_urb(0, GFP_KERNEL);
346         if (!mc->irq)
347                 goto out;
348
349         mc->udev = usb_get_dev(dev);
350         mc->intf = intf;
351         mc->acceleration[0] = mc->acceleration[1] = 10;
352         INIT_DELAYED_WORK(&mc->do_notify, do_notify);
353         usb_fill_int_urb(mc->irq, mc->udev, pipe, mc->data,
354                         maxp > URB_INT_SIZE ? URB_INT_SIZE : maxp,
355                         motorcontrol_irq, mc, endpoint->bInterval);
356         mc->irq->transfer_dma = mc->data_dma;
357         mc->irq->transfer_flags |= URB_NO_TRANSFER_DMA_MAP;
358
359         usb_set_intfdata(intf, mc);
360
361         do {
362                 bit = find_first_zero_bit(&device_no, sizeof(device_no));
363                 value = test_and_set_bit(bit, &device_no);
364         } while(value);
365         mc->dev_no = bit;
366
367         mc->dev = device_create(phidget_class, &mc->udev->dev, 0,
368                                 "motorcontrol%d", mc->dev_no);
369         if (IS_ERR(mc->dev)) {
370                 rc = PTR_ERR(mc->dev);
371                 mc->dev = NULL;
372                 goto out;
373         }
374
375         dev_set_drvdata(mc->dev, mc);
376
377         if (usb_submit_urb(mc->irq, GFP_KERNEL)) {
378                 rc = -EIO;
379                 goto out;
380         }
381
382         for (i=0; i<ARRAY_SIZE(dev_attrs); i++) {
383                 rc = device_create_file(mc->dev, &dev_attrs[i]);
384                 if (rc)
385                         goto out2;
386         }
387
388         dev_info(&intf->dev, "USB PhidgetMotorControl attached\n");
389
390         return 0;
391 out2:
392         while (i-- > 0)
393                 device_remove_file(mc->dev, &dev_attrs[i]);
394 out:
395         if (mc) {
396                 usb_free_urb(mc->irq);
397                 if (mc->data)
398                         usb_buffer_free(dev, URB_INT_SIZE, mc->data, mc->data_dma);
399                 if (mc->dev)
400                         device_unregister(mc->dev);
401                 if (mc->dev_no >= 0)
402                         clear_bit(mc->dev_no, &device_no);
403
404                 kfree(mc);
405         }
406
407         return rc;
408 }
409
410 static void motorcontrol_disconnect(struct usb_interface *interface)
411 {
412         struct motorcontrol *mc;
413         int i;
414
415         mc = usb_get_intfdata(interface);
416         usb_set_intfdata(interface, NULL);
417         if (!mc)
418                 return;
419
420         usb_kill_urb(mc->irq);
421         usb_free_urb(mc->irq);
422         usb_buffer_free(mc->udev, URB_INT_SIZE, mc->data, mc->data_dma);
423
424         cancel_delayed_work(&mc->do_notify);
425
426         for (i=0; i<ARRAY_SIZE(dev_attrs); i++)
427                 device_remove_file(mc->dev, &dev_attrs[i]);
428
429         device_unregister(mc->dev);
430
431         usb_put_dev(mc->udev);
432         clear_bit(mc->dev_no, &device_no);
433         kfree(mc);
434
435         dev_info(&interface->dev, "USB PhidgetMotorControl detached\n");
436 }
437
438 static struct usb_driver motorcontrol_driver = {
439         .name = "phidgetmotorcontrol",
440         .probe = motorcontrol_probe,
441         .disconnect = motorcontrol_disconnect,
442         .id_table = id_table
443 };
444
445 static int __init motorcontrol_init(void)
446 {
447         int retval = 0;
448
449         retval = usb_register(&motorcontrol_driver);
450         if (retval)
451                 err("usb_register failed. Error number %d", retval);
452
453         return retval;
454 }
455
456 static void __exit motorcontrol_exit(void)
457 {
458         usb_deregister(&motorcontrol_driver);
459 }
460
461 module_init(motorcontrol_init);
462 module_exit(motorcontrol_exit);
463
464 MODULE_AUTHOR(DRIVER_AUTHOR);
465 MODULE_DESCRIPTION(DRIVER_DESC);
466 MODULE_LICENSE("GPL");