Merge master.kernel.org:/pub/scm/linux/kernel/git/perex/alsa-current
[linux-2.6] / drivers / usb / misc / phidgetservo.c
1 /*
2  * USB PhidgetServo driver 1.0
3  *
4  * Copyright (C) 2004 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  * This is a driver for the USB PhidgetServo version 2.0 and 3.0 servo 
12  * controllers available at: http://www.phidgets.com/ 
13  *
14  * Note that the driver takes input as: degrees.minutes
15  *
16  * CAUTION: Generally you should use 0 < degrees < 180 as anything else
17  * is probably beyond the range of your servo and may damage it.
18  *
19  * Jun 16, 2004: Sean Young <sean@mess.org>
20  *  - cleanups
21  *  - was using memory after kfree()
22  * Aug 8, 2004: Sean Young <sean@mess.org>
23  *  - set the highest angle as high as the hardware allows, there are 
24  *    some odd servos out there
25  *
26  */
27
28 #include <linux/config.h>
29 #ifdef CONFIG_USB_DEBUG
30 #define DEBUG   1
31 #endif
32 #include <linux/kernel.h>
33 #include <linux/errno.h>
34 #include <linux/init.h>
35 #include <linux/slab.h>
36 #include <linux/module.h>
37 #include <linux/usb.h>
38
39 #define DRIVER_AUTHOR "Sean Young <sean@mess.org>"
40 #define DRIVER_DESC "USB PhidgetServo Driver"
41
42 #define VENDOR_ID_GLAB                          0x06c2
43 #define DEVICE_ID_GLAB_PHIDGETSERVO_QUAD        0x0038
44 #define DEVICE_ID_GLAB_PHIDGETSERVO_UNI         0x0039
45
46 #define VENDOR_ID_WISEGROUP                     0x0925
47 #define VENDOR_ID_WISEGROUP_PHIDGETSERVO_QUAD   0x8101
48 #define VENDOR_ID_WISEGROUP_PHIDGETSERVO_UNI    0x8104
49
50 #define SERVO_VERSION_30                        0x01
51 #define SERVO_COUNT_QUAD                        0x02
52
53 static struct usb_device_id id_table[] = {
54         {
55                 USB_DEVICE(VENDOR_ID_GLAB, DEVICE_ID_GLAB_PHIDGETSERVO_QUAD), 
56                 .driver_info = SERVO_VERSION_30 | SERVO_COUNT_QUAD 
57         },
58         {
59                 USB_DEVICE(VENDOR_ID_GLAB, DEVICE_ID_GLAB_PHIDGETSERVO_UNI),
60                 .driver_info = SERVO_VERSION_30 
61         },
62         {
63                 USB_DEVICE(VENDOR_ID_WISEGROUP, 
64                                 VENDOR_ID_WISEGROUP_PHIDGETSERVO_QUAD),
65                 .driver_info = SERVO_COUNT_QUAD 
66         },
67         {
68                 USB_DEVICE(VENDOR_ID_WISEGROUP, 
69                                 VENDOR_ID_WISEGROUP_PHIDGETSERVO_UNI),
70                 .driver_info = 0
71         },
72         {}
73 };
74
75 MODULE_DEVICE_TABLE(usb, id_table);
76
77 struct phidget_servo {
78         struct usb_device *udev;
79         ulong type;
80         int pulse[4];
81         int degrees[4];
82         int minutes[4];
83 };
84
85 static int
86 change_position_v30(struct phidget_servo *servo, int servo_no, int degrees, 
87                                                                 int minutes)
88 {
89         int retval;
90         unsigned char *buffer;
91
92         if (degrees < -23 || degrees > 362)
93                 return -EINVAL;
94
95         buffer = kmalloc(6, GFP_KERNEL);
96         if (!buffer) {
97                 dev_err(&servo->udev->dev, "%s - out of memory\n",
98                         __FUNCTION__);
99                 return -ENOMEM;
100         }
101
102         /*
103          * pulse = 0 - 4095
104          * angle = 0 - 180 degrees
105          *
106          * pulse = angle * 10.6 + 243.8 
107          */
108         servo->pulse[servo_no] = ((degrees*60 + minutes)*106 + 2438*60)/600;    
109         servo->degrees[servo_no]= degrees;
110         servo->minutes[servo_no]= minutes;      
111
112         /* 
113          * The PhidgetServo v3.0 is controlled by sending 6 bytes,
114          * 4 * 12 bits for each servo.
115          *
116          * low = lower 8 bits pulse
117          * high = higher 4 bits pulse
118          *
119          * offset     bits
120          * +---+-----------------+
121          * | 0 |      low 0      |
122          * +---+--------+--------+
123          * | 1 | high 1 | high 0 |
124          * +---+--------+--------+
125          * | 2 |      low 1      |
126          * +---+-----------------+
127          * | 3 |      low 2      |
128          * +---+--------+--------+
129          * | 4 | high 3 | high 2 |
130          * +---+--------+--------+
131          * | 5 |      low 3      |
132          * +---+-----------------+
133          */
134
135         buffer[0] = servo->pulse[0] & 0xff;
136         buffer[1] = (servo->pulse[0] >> 8 & 0x0f)
137             | (servo->pulse[1] >> 4 & 0xf0);
138         buffer[2] = servo->pulse[1] & 0xff;
139         buffer[3] = servo->pulse[2] & 0xff;
140         buffer[4] = (servo->pulse[2] >> 8 & 0x0f)
141             | (servo->pulse[3] >> 4 & 0xf0);
142         buffer[5] = servo->pulse[3] & 0xff;
143
144         dev_dbg(&servo->udev->dev,
145                 "data: %02x %02x %02x %02x %02x %02x\n",
146                 buffer[0], buffer[1], buffer[2],
147                 buffer[3], buffer[4], buffer[5]);
148
149         retval = usb_control_msg(servo->udev,
150                                  usb_sndctrlpipe(servo->udev, 0),
151                                  0x09, 0x21, 0x0200, 0x0000, buffer, 6, 2000);
152
153         kfree(buffer);
154
155         return retval;
156 }
157
158 static int
159 change_position_v20(struct phidget_servo *servo, int servo_no, int degrees,
160                                                                 int minutes)
161 {
162         int retval;
163         unsigned char *buffer;
164
165         if (degrees < -23 || degrees > 278)
166                 return -EINVAL;
167
168         buffer = kmalloc(2, GFP_KERNEL);
169         if (!buffer) {
170                 dev_err(&servo->udev->dev, "%s - out of memory\n",
171                         __FUNCTION__);
172                 return -ENOMEM;
173         }
174
175         /*
176          * angle = 0 - 180 degrees
177          * pulse = angle + 23
178          */
179         servo->pulse[servo_no]= degrees + 23;
180         servo->degrees[servo_no]= degrees;
181         servo->minutes[servo_no]= 0;
182
183         /*
184          * The PhidgetServo v2.0 is controlled by sending two bytes. The
185          * first byte is the servo number xor'ed with 2:
186          *
187          * servo 0 = 2
188          * servo 1 = 3
189          * servo 2 = 0
190          * servo 3 = 1
191          *
192          * The second byte is the position.
193          */
194
195         buffer[0] = servo_no ^ 2;
196         buffer[1] = servo->pulse[servo_no];
197
198         dev_dbg(&servo->udev->dev, "data: %02x %02x\n", buffer[0], buffer[1]);
199
200         retval = usb_control_msg(servo->udev,
201                                  usb_sndctrlpipe(servo->udev, 0),
202                                  0x09, 0x21, 0x0200, 0x0000, buffer, 2, 2000);
203
204         kfree(buffer);
205
206         return retval;
207 }
208
209 #define show_set(value) \
210 static ssize_t set_servo##value (struct device *dev, struct device_attribute *attr,                     \
211                                         const char *buf, size_t count)  \
212 {                                                                       \
213         int degrees, minutes, retval;                                   \
214         struct usb_interface *intf = to_usb_interface (dev);            \
215         struct phidget_servo *servo = usb_get_intfdata (intf);          \
216                                                                         \
217         minutes = 0;                                                    \
218         /* must at least convert degrees */                             \
219         if (sscanf (buf, "%d.%d", &degrees, &minutes) < 1) {            \
220                 return -EINVAL;                                         \
221         }                                                               \
222                                                                         \
223         if (minutes < 0 || minutes > 59)                                \
224                 return -EINVAL;                                         \
225                                                                         \
226         if (servo->type & SERVO_VERSION_30)                             \
227                 retval = change_position_v30 (servo, value, degrees,    \
228                                                         minutes);       \
229         else                                                            \
230                 retval = change_position_v20 (servo, value, degrees,    \
231                                                         minutes);       \
232                                                                         \
233         return retval < 0 ? retval : count;                             \
234 }                                                                       \
235                                                                         \
236 static ssize_t show_servo##value (struct device *dev, struct device_attribute *attr, char *buf)         \
237 {                                                                       \
238         struct usb_interface *intf = to_usb_interface (dev);            \
239         struct phidget_servo *servo = usb_get_intfdata (intf);          \
240                                                                         \
241         return sprintf (buf, "%d.%02d\n", servo->degrees[value],        \
242                                 servo->minutes[value]);                 \
243 }                                                                       \
244 static DEVICE_ATTR(servo##value, S_IWUGO | S_IRUGO,                     \
245           show_servo##value, set_servo##value);
246
247 show_set(0);
248 show_set(1);
249 show_set(2);
250 show_set(3);
251
252 static int
253 servo_probe(struct usb_interface *interface, const struct usb_device_id *id)
254 {
255         struct usb_device *udev = interface_to_usbdev(interface);
256         struct phidget_servo *dev;
257
258         dev = kmalloc(sizeof (struct phidget_servo), GFP_KERNEL);
259         if (dev == NULL) {
260                 dev_err(&interface->dev, "%s - out of memory\n", __FUNCTION__);
261                 return -ENOMEM;
262         }
263         memset(dev, 0x00, sizeof (*dev));
264
265         dev->udev = usb_get_dev(udev);
266         dev->type = id->driver_info;
267         usb_set_intfdata(interface, dev);
268
269         device_create_file(&interface->dev, &dev_attr_servo0);
270         if (dev->type & SERVO_COUNT_QUAD) {
271                 device_create_file(&interface->dev, &dev_attr_servo1);
272                 device_create_file(&interface->dev, &dev_attr_servo2);
273                 device_create_file(&interface->dev, &dev_attr_servo3);
274         }
275
276         dev_info(&interface->dev, "USB %d-Motor PhidgetServo v%d.0 attached\n",
277                 dev->type & SERVO_COUNT_QUAD ? 4 : 1,
278                 dev->type & SERVO_VERSION_30 ? 3 : 2);
279
280         if(!(dev->type & SERVO_VERSION_30))
281                 dev_info(&interface->dev,
282                          "WARNING: v2.0 not tested! Please report if it works.\n");
283
284         return 0;
285 }
286
287 static void
288 servo_disconnect(struct usb_interface *interface)
289 {
290         struct phidget_servo *dev;
291
292         dev = usb_get_intfdata(interface);
293         usb_set_intfdata(interface, NULL);
294
295         device_remove_file(&interface->dev, &dev_attr_servo0);
296         if (dev->type & SERVO_COUNT_QUAD) {
297                 device_remove_file(&interface->dev, &dev_attr_servo1);
298                 device_remove_file(&interface->dev, &dev_attr_servo2);
299                 device_remove_file(&interface->dev, &dev_attr_servo3);
300         }
301
302         usb_put_dev(dev->udev);
303
304         dev_info(&interface->dev, "USB %d-Motor PhidgetServo v%d.0 detached\n",
305                 dev->type & SERVO_COUNT_QUAD ? 4 : 1,
306                 dev->type & SERVO_VERSION_30 ? 3 : 2);
307
308         kfree(dev);
309 }
310
311 static struct usb_driver servo_driver = {
312         .owner = THIS_MODULE,
313         .name = "phidgetservo",
314         .probe = servo_probe,
315         .disconnect = servo_disconnect,
316         .id_table = id_table
317 };
318
319 static int __init
320 phidget_servo_init(void)
321 {
322         int retval;
323
324         retval = usb_register(&servo_driver);
325         if (retval)
326                 err("usb_register failed. Error number %d", retval);
327
328         return retval;
329 }
330
331 static void __exit
332 phidget_servo_exit(void)
333 {
334         usb_deregister(&servo_driver);
335 }
336
337 module_init(phidget_servo_init);
338 module_exit(phidget_servo_exit);
339
340 MODULE_AUTHOR(DRIVER_AUTHOR);
341 MODULE_DESCRIPTION(DRIVER_DESC);
342 MODULE_LICENSE("GPL");