Merge branch 'upstream' of git://ftp.linux-mips.org/pub/scm/upstream-linus
[linux-2.6] / drivers / usb / misc / phidgetservo.c
1 /*
2  * USB PhidgetServo driver 1.0
3  *
4  * Copyright (C) 2004, 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  * 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
20 #include <linux/kernel.h>
21 #include <linux/errno.h>
22 #include <linux/init.h>
23 #include <linux/slab.h>
24 #include <linux/module.h>
25 #include <linux/usb.h>
26
27 #include "phidget.h"
28
29 #define DRIVER_AUTHOR "Sean Young <sean@mess.org>"
30 #define DRIVER_DESC "USB PhidgetServo Driver"
31
32 #define VENDOR_ID_GLAB                          0x06c2
33 #define DEVICE_ID_GLAB_PHIDGETSERVO_QUAD        0x0038
34 #define DEVICE_ID_GLAB_PHIDGETSERVO_UNI         0x0039
35
36 #define VENDOR_ID_WISEGROUP                     0x0925
37 #define VENDOR_ID_WISEGROUP_PHIDGETSERVO_QUAD   0x8101
38 #define VENDOR_ID_WISEGROUP_PHIDGETSERVO_UNI    0x8104
39
40 #define SERVO_VERSION_30                        0x01
41 #define SERVO_COUNT_QUAD                        0x02
42
43 static struct usb_device_id id_table[] = {
44         {
45                 USB_DEVICE(VENDOR_ID_GLAB, DEVICE_ID_GLAB_PHIDGETSERVO_QUAD), 
46                 .driver_info = SERVO_VERSION_30 | SERVO_COUNT_QUAD 
47         },
48         {
49                 USB_DEVICE(VENDOR_ID_GLAB, DEVICE_ID_GLAB_PHIDGETSERVO_UNI),
50                 .driver_info = SERVO_VERSION_30 
51         },
52         {
53                 USB_DEVICE(VENDOR_ID_WISEGROUP, 
54                                 VENDOR_ID_WISEGROUP_PHIDGETSERVO_QUAD),
55                 .driver_info = SERVO_COUNT_QUAD 
56         },
57         {
58                 USB_DEVICE(VENDOR_ID_WISEGROUP, 
59                                 VENDOR_ID_WISEGROUP_PHIDGETSERVO_UNI),
60                 .driver_info = 0
61         },
62         {}
63 };
64
65 MODULE_DEVICE_TABLE(usb, id_table);
66
67 static int unsigned long device_no;
68
69 struct phidget_servo {
70         struct usb_device *udev;
71         struct device *dev;
72         int dev_no;
73         ulong type;
74         int pulse[4];
75         int degrees[4];
76         int minutes[4];
77 };
78
79 static int
80 change_position_v30(struct phidget_servo *servo, int servo_no, int degrees, 
81                                                                 int minutes)
82 {
83         int retval;
84         unsigned char *buffer;
85
86         if (degrees < -23 || degrees > 362)
87                 return -EINVAL;
88
89         buffer = kmalloc(6, GFP_KERNEL);
90         if (!buffer) {
91                 dev_err(&servo->udev->dev, "%s - out of memory\n",
92                         __FUNCTION__);
93                 return -ENOMEM;
94         }
95
96         /*
97          * pulse = 0 - 4095
98          * angle = 0 - 180 degrees
99          *
100          * pulse = angle * 10.6 + 243.8 
101          */
102         servo->pulse[servo_no] = ((degrees*60 + minutes)*106 + 2438*60)/600;    
103         servo->degrees[servo_no]= degrees;
104         servo->minutes[servo_no]= minutes;      
105
106         /* 
107          * The PhidgetServo v3.0 is controlled by sending 6 bytes,
108          * 4 * 12 bits for each servo.
109          *
110          * low = lower 8 bits pulse
111          * high = higher 4 bits pulse
112          *
113          * offset     bits
114          * +---+-----------------+
115          * | 0 |      low 0      |
116          * +---+--------+--------+
117          * | 1 | high 1 | high 0 |
118          * +---+--------+--------+
119          * | 2 |      low 1      |
120          * +---+-----------------+
121          * | 3 |      low 2      |
122          * +---+--------+--------+
123          * | 4 | high 3 | high 2 |
124          * +---+--------+--------+
125          * | 5 |      low 3      |
126          * +---+-----------------+
127          */
128
129         buffer[0] = servo->pulse[0] & 0xff;
130         buffer[1] = (servo->pulse[0] >> 8 & 0x0f)
131             | (servo->pulse[1] >> 4 & 0xf0);
132         buffer[2] = servo->pulse[1] & 0xff;
133         buffer[3] = servo->pulse[2] & 0xff;
134         buffer[4] = (servo->pulse[2] >> 8 & 0x0f)
135             | (servo->pulse[3] >> 4 & 0xf0);
136         buffer[5] = servo->pulse[3] & 0xff;
137
138         dev_dbg(&servo->udev->dev,
139                 "data: %02x %02x %02x %02x %02x %02x\n",
140                 buffer[0], buffer[1], buffer[2],
141                 buffer[3], buffer[4], buffer[5]);
142
143         retval = usb_control_msg(servo->udev,
144                                  usb_sndctrlpipe(servo->udev, 0),
145                                  0x09, 0x21, 0x0200, 0x0000, buffer, 6, 2000);
146
147         kfree(buffer);
148
149         return retval;
150 }
151
152 static int
153 change_position_v20(struct phidget_servo *servo, int servo_no, int degrees,
154                                                                 int minutes)
155 {
156         int retval;
157         unsigned char *buffer;
158
159         if (degrees < -23 || degrees > 278)
160                 return -EINVAL;
161
162         buffer = kmalloc(2, GFP_KERNEL);
163         if (!buffer) {
164                 dev_err(&servo->udev->dev, "%s - out of memory\n",
165                         __FUNCTION__);
166                 return -ENOMEM;
167         }
168
169         /*
170          * angle = 0 - 180 degrees
171          * pulse = angle + 23
172          */
173         servo->pulse[servo_no]= degrees + 23;
174         servo->degrees[servo_no]= degrees;
175         servo->minutes[servo_no]= 0;
176
177         /*
178          * The PhidgetServo v2.0 is controlled by sending two bytes. The
179          * first byte is the servo number xor'ed with 2:
180          *
181          * servo 0 = 2
182          * servo 1 = 3
183          * servo 2 = 0
184          * servo 3 = 1
185          *
186          * The second byte is the position.
187          */
188
189         buffer[0] = servo_no ^ 2;
190         buffer[1] = servo->pulse[servo_no];
191
192         dev_dbg(&servo->udev->dev, "data: %02x %02x\n", buffer[0], buffer[1]);
193
194         retval = usb_control_msg(servo->udev,
195                                  usb_sndctrlpipe(servo->udev, 0),
196                                  0x09, 0x21, 0x0200, 0x0000, buffer, 2, 2000);
197
198         kfree(buffer);
199
200         return retval;
201 }
202
203 #define show_set(value) \
204 static ssize_t set_servo##value (struct device *dev,                    \
205                                         struct device_attribute *attr,  \
206                                         const char *buf, size_t count)  \
207 {                                                                       \
208         int degrees, minutes, retval;                                   \
209         struct phidget_servo *servo = dev_get_drvdata(dev);             \
210                                                                         \
211         minutes = 0;                                                    \
212         /* must at least convert degrees */                             \
213         if (sscanf(buf, "%d.%d", &degrees, &minutes) < 1) {             \
214                 return -EINVAL;                                         \
215         }                                                               \
216                                                                         \
217         if (minutes < 0 || minutes > 59)                                \
218                 return -EINVAL;                                         \
219                                                                         \
220         if (servo->type & SERVO_VERSION_30)                             \
221                 retval = change_position_v30(servo, value, degrees,     \
222                                                         minutes);       \
223         else                                                            \
224                 retval = change_position_v20(servo, value, degrees,     \
225                                                         minutes);       \
226                                                                         \
227         return retval < 0 ? retval : count;                             \
228 }                                                                       \
229                                                                         \
230 static ssize_t show_servo##value (struct device *dev,                   \
231                                         struct device_attribute *attr,  \
232                                         char *buf)                      \
233 {                                                                       \
234         struct phidget_servo *servo = dev_get_drvdata(dev);             \
235                                                                         \
236         return sprintf(buf, "%d.%02d\n", servo->degrees[value],         \
237                                 servo->minutes[value]);                 \
238 }
239
240 #define servo_attr(value)                                               \
241         __ATTR(servo##value, S_IWUGO | S_IRUGO,                         \
242                 show_servo##value, set_servo##value)
243 show_set(0);
244 show_set(1);
245 show_set(2);
246 show_set(3);
247
248 static struct device_attribute dev_attrs[] = {
249         servo_attr(0), servo_attr(1), servo_attr(2), servo_attr(3)
250 };
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         int bit, value, rc;
258         int servo_count, i;
259
260         dev = kzalloc(sizeof (struct phidget_servo), GFP_KERNEL);
261         if (dev == NULL) {
262                 dev_err(&interface->dev, "%s - out of memory\n", __FUNCTION__);
263                 rc = -ENOMEM;
264                 goto out;
265         }
266
267         dev->udev = usb_get_dev(udev);
268         dev->type = id->driver_info;
269         dev->dev_no = -1;
270         usb_set_intfdata(interface, dev);
271
272         do {
273                 bit = find_first_zero_bit(&device_no, sizeof(device_no));
274                 value = test_and_set_bit(bit, &device_no);
275         } while (value);
276         dev->dev_no = bit;
277
278         dev->dev = device_create(phidget_class, &dev->udev->dev, 0,
279                                  "servo%d", dev->dev_no);
280         if (IS_ERR(dev->dev)) {
281                 rc = PTR_ERR(dev->dev);
282                 dev->dev = NULL;
283                 goto out;
284         }
285         dev_set_drvdata(dev->dev, dev);
286
287         servo_count = dev->type & SERVO_COUNT_QUAD ? 4 : 1;
288
289         for (i=0; i<servo_count; i++) {
290                 rc = device_create_file(dev->dev, &dev_attrs[i]);
291                 if (rc)
292                         goto out2;
293         }
294
295         dev_info(&interface->dev, "USB %d-Motor PhidgetServo v%d.0 attached\n",
296                 servo_count, dev->type & SERVO_VERSION_30 ? 3 : 2);
297
298         if (!(dev->type & SERVO_VERSION_30))
299                 dev_info(&interface->dev,
300                          "WARNING: v2.0 not tested! Please report if it works.\n");
301
302         return 0;
303 out2:
304         while (i-- > 0)
305                 device_remove_file(dev->dev, &dev_attrs[i]);
306 out:
307         if (dev) {
308                 if (dev->dev)
309                         device_unregister(dev->dev);
310                 if (dev->dev_no >= 0)
311                         clear_bit(dev->dev_no, &device_no);
312
313                 kfree(dev);
314         }
315
316         return rc;
317 }
318
319 static void
320 servo_disconnect(struct usb_interface *interface)
321 {
322         struct phidget_servo *dev;
323         int servo_count, i;
324
325         dev = usb_get_intfdata(interface);
326         usb_set_intfdata(interface, NULL);
327
328         if (!dev)
329                 return;
330
331         servo_count = dev->type & SERVO_COUNT_QUAD ? 4 : 1;
332
333         for (i=0; i<servo_count; i++)
334                 device_remove_file(dev->dev, &dev_attrs[i]);
335
336         device_unregister(dev->dev);
337         usb_put_dev(dev->udev);
338
339         dev_info(&interface->dev, "USB %d-Motor PhidgetServo v%d.0 detached\n",
340                 servo_count, dev->type & SERVO_VERSION_30 ? 3 : 2);
341
342         clear_bit(dev->dev_no, &device_no);
343         kfree(dev);
344 }
345
346 static struct usb_driver servo_driver = {
347         .name = "phidgetservo",
348         .probe = servo_probe,
349         .disconnect = servo_disconnect,
350         .id_table = id_table
351 };
352
353 static int __init
354 phidget_servo_init(void)
355 {
356         int retval;
357
358         retval = usb_register(&servo_driver);
359         if (retval)
360                 err("usb_register failed. Error number %d", retval);
361
362         return retval;
363 }
364
365 static void __exit
366 phidget_servo_exit(void)
367 {
368         usb_deregister(&servo_driver);
369 }
370
371 module_init(phidget_servo_init);
372 module_exit(phidget_servo_exit);
373
374 MODULE_AUTHOR(DRIVER_AUTHOR);
375 MODULE_DESCRIPTION(DRIVER_DESC);
376 MODULE_LICENSE("GPL");