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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 | /* * 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> #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, struct device_attribute *attr, \ 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, struct device_attribute *attr, 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 = kzalloc(sizeof (struct phidget_servo), GFP_KERNEL); if (dev == NULL) { dev_err(&interface->dev, "%s - out of memory\n", __FUNCTION__); return -ENOMEM; } 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 = { .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"); |