Return-Path: Received: (majordomo@vger.kernel.org) by vger.kernel.org via listexpand id S261907AbUD1Tws (ORCPT ); Wed, 28 Apr 2004 15:52:48 -0400 Received: (majordomo@vger.kernel.org) by vger.kernel.org id S261918AbUD1TwU (ORCPT ); Wed, 28 Apr 2004 15:52:20 -0400 Received: from atlantis.8hz.com ([212.129.237.78]:56329 "EHLO atlantis.8hz.com") by vger.kernel.org with ESMTP id S265035AbUD1SS0 (ORCPT ); Wed, 28 Apr 2004 14:18:26 -0400 Date: Wed, 28 Apr 2004 20:18:06 +0200 From: Sean Young To: Greg Kroah-Hartman Cc: Andrew Morton , Chester , Bryan Small , linux-kernel@vger.kernel.org Subject: [PATCH] USB: add new USB PhidgetServo driver Message-ID: <20040428181806.GA36322@atlantis.8hz.com> Mime-Version: 1.0 Content-Type: text/plain; charset=us-ascii Content-Disposition: inline User-Agent: Mutt/1.4.1i Sender: linux-kernel-owner@vger.kernel.org X-Mailing-List: linux-kernel@vger.kernel.org Content-Length: 12811 Lines: 419 Here is a driver for the usb servo controllers from Phidgets , using sysfs. Note that the devices claim to be hid devices, so I've added them to the hid_blacklist (HID_QUIRK_IGNORE). A servo controller isn't really an hid device (or is it?). diff against 2.6.6-rc2. Sean diff -Nur linux-2.6.0/drivers/usb/Makefile /usr/src/linux-2.6.0/drivers/usb/Makefile --- linux-2.6.0/drivers/usb/Makefile 2004-04-22 11:25:19.000000000 +0200 +++ /usr/src/linux-2.6.0/drivers/usb/Makefile 2004-04-21 18:02:00.000000000 +0200 @@ -66,3 +66,4 @@ obj-$(CONFIG_USB_TEST) += misc/ obj-$(CONFIG_USB_TIGL) += misc/ obj-$(CONFIG_USB_USS720) += misc/ +obj-$(CONFIG_USB_PHIDGETSERVO) += misc/ diff -Nur linux-2.6.0/drivers/usb/input/hid-core.c /usr/src/linux-2.6.0/drivers/usb/input/hid-core.c --- linux-2.6.0/drivers/usb/input/hid-core.c 2004-04-12 19:36:21.000000000 +0200 +++ /usr/src/linux-2.6.0/drivers/usb/input/hid-core.c 2004-04-22 11:54:25.000000000 +0200 @@ -1412,6 +1412,14 @@ #define USB_VENDOR_ID_CHIC 0x05fe #define USB_DEVICE_ID_CHIC_GAMEPAD 0x0014 +#define USB_VENDOR_ID_GLAB 0x06c2 +#define USB_DEVICE_ID_4_PHIDGETSERVO_30 0x0038 +#define USB_DEVICE_ID_1_PHIDGETSERVO_30 0x0039 + +#define USB_VENDOR_ID_WISEGROUP 0x0925 +#define USB_DEVICE_ID_1_PHIDGETSERVO_20 0x8101 +#define USB_DEVICE_ID_4_PHIDGETSERVO_20 0x8104 + struct hid_blacklist { __u16 idVendor; __u16 idProduct; @@ -1459,6 +1467,10 @@ { USB_VENDOR_ID_WACOM, USB_DEVICE_ID_WACOM_INTUOS2 + 7, HID_QUIRK_IGNORE }, { USB_VENDOR_ID_WACOM, USB_DEVICE_ID_WACOM_VOLITO, HID_QUIRK_IGNORE }, { USB_VENDOR_ID_WACOM, USB_DEVICE_ID_WACOM_PTU, 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_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_ATEN, USB_DEVICE_ID_ATEN_UC100KM, HID_QUIRK_NOGET }, { USB_VENDOR_ID_ATEN, USB_DEVICE_ID_ATEN_CS124U, HID_QUIRK_NOGET }, diff -Nur linux-2.6.0/drivers/usb/misc/Kconfig /usr/src/linux-2.6.0/drivers/usb/misc/Kconfig --- linux-2.6.0/drivers/usb/misc/Kconfig 2004-04-22 11:25:20.000000000 +0200 +++ /usr/src/linux-2.6.0/drivers/usb/misc/Kconfig 2004-04-21 18:02:00.000000000 +0200 @@ -133,6 +133,18 @@ To compile this driver as a module, choose M here: the module will be called speedtch. +config USB_PHIDGETSERVO + tristate "USB PhidgetServo support" + depends on USB + help + Say Y here if you want to connect an 1 or 4 Motor PhidgetServo + servo controller version 2.0 or 3.0. + + Phidgets Inc. has a web page at . + + To compile this driver as a module, choose M here: the + module will be called phidgetservo. + config USB_TEST tristate "USB testing driver (DEVELOPMENT)" depends on USB && USB_DEVICEFS && EXPERIMENTAL diff -Nur linux-2.6.0/drivers/usb/misc/Makefile /usr/src/linux-2.6.0/drivers/usb/misc/Makefile --- linux-2.6.0/drivers/usb/misc/Makefile 2004-04-22 11:25:20.000000000 +0200 +++ /usr/src/linux-2.6.0/drivers/usb/misc/Makefile 2004-04-21 18:02:00.000000000 +0200 @@ -15,3 +15,4 @@ obj-$(CONFIG_USB_TEST) += usbtest.o obj-$(CONFIG_USB_TIGL) += tiglusb.o obj-$(CONFIG_USB_USS720) += uss720.o +obj-$(CONFIG_USB_PHIDGETSERVO) += phidgetservo.o diff -Nur linux-2.6.0/drivers/usb/misc/phidgetservo.c /usr/src/linux-2.6.0/drivers/usb/misc/phidgetservo.c --- linux-2.6.0/drivers/usb/misc/phidgetservo.c 1970-01-01 01:00:00.000000000 +0100 +++ /usr/src/linux-2.6.0/drivers/usb/misc/phidgetservo.c 2004-04-27 13:03:07.000000000 +0200 @@ -0,0 +1,330 @@ +/* + * USB PhidgetServo driver 1.0 + * + * Copyright (C) 2004 Sean Young + * + * 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 + * -23 < degrees < 203 + * 0 < minutes < 59 + * + * CAUTION: Generally you should use 0 < degrees < 180 as anything else + * is probably beyond the range of your servo and may damage it. + */ + +#include +#ifdef CONFIG_USB_DEBUG +#define DEBUG 1 +#endif +#include +#include +#include +#include +#include +#include + +#define DRIVER_AUTHOR "Sean Young " +#define DRIVER_DESC "USB PhidgetServo Driver" + +#define VENDOR_ID_GLAB 0x06c2 +#define DEVICE_ID_4MOTOR_SERVO_30 0x0038 +#define DEVICE_ID_1MOTOR_SERVO_30 0x0039 + +#define VENDOR_ID_WISEGROUP 0x0925 +#define DEVICE_ID_1MOTOR_SERVO_20 0x8101 +#define DEVICE_ID_4MOTOR_SERVO_20 0x8104 + +static struct usb_device_id id_table[] = { + {USB_DEVICE(VENDOR_ID_GLAB, DEVICE_ID_4MOTOR_SERVO_30)}, + {USB_DEVICE(VENDOR_ID_GLAB, DEVICE_ID_1MOTOR_SERVO_30)}, + {USB_DEVICE(VENDOR_ID_WISEGROUP, DEVICE_ID_4MOTOR_SERVO_20)}, + {USB_DEVICE(VENDOR_ID_WISEGROUP, DEVICE_ID_1MOTOR_SERVO_20)}, + {} +}; + +MODULE_DEVICE_TABLE(usb, id_table); + +struct phidget_servo { + struct usb_device *udev; + int version; + int quad_servo; + int pulse[4]; + int degrees[4]; + int minutes[4]; +}; + +static void +change_position_v30(struct phidget_servo *servo, int servo_no, int degrees, + int minutes) +{ + int retval; + unsigned char *buffer; + + /* + * 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; + + buffer = kmalloc(6, GFP_KERNEL); + if (!buffer) { + dev_err(&servo->udev->dev, "%s - out of memory\n", + __FUNCTION__); + return; + } + + /* + * 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, 2 * HZ); + if (retval != 6) + dev_err(&servo->udev->dev, "retval = %d\n", retval); + kfree(buffer); +} + +static void +change_position_v20(struct phidget_servo *servo, int servo_no, int degrees, + int minutes) +{ + int retval; + unsigned char *buffer; + + /* + * angle = 0 - 180 degrees + * pulse = angle + 23 + */ + servo->pulse[servo_no]= degrees + 23; + servo->degrees[servo_no]= degrees; + servo->minutes[servo_no]= 0; + + buffer = kmalloc(2, GFP_KERNEL); + if (!buffer) { + dev_err(&servo->udev->dev, "%s - out of memory\n", + __FUNCTION__); + return; + } + + /* + * 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, 2 * HZ); + if (retval != 2) + dev_err(&servo->udev->dev, "retval = %d\n", retval); + kfree(buffer); +} + +#define show_set(value) \ +static ssize_t set_servo##value (struct device *dev, \ + const char *buf, size_t count) \ +{ \ + int degrees, minutes; \ + 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 (degrees < -23 || degrees > (180 + 23) || \ + minutes < 0 || minutes > 59) { \ + return -EINVAL; \ + } \ + \ + if (servo->version >= 3) \ + change_position_v30 (servo, value, degrees, minutes); \ + else \ + change_position_v20 (servo, value, degrees, minutes); \ + \ + return count; \ +} \ + \ +static ssize_t show_servo##value (struct device *dev, 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 = NULL; + + dev = kmalloc(sizeof (struct phidget_servo), GFP_KERNEL); + if (dev == NULL) { + dev_err(&interface->dev, "%s - out of memory\n", __FUNCTION__); + return -ENOMEM; + } + memset(dev, 0x00, sizeof (*dev)); + + dev->udev = usb_get_dev(udev); + switch (udev->descriptor.idVendor) { + case VENDOR_ID_WISEGROUP: + dev->version = 2; + break; + case VENDOR_ID_GLAB: + dev->version = 3; + break; + } + switch (udev->descriptor.idProduct) { + case DEVICE_ID_4MOTOR_SERVO_20: + case DEVICE_ID_4MOTOR_SERVO_30: + dev->quad_servo = 1; + break; + case DEVICE_ID_1MOTOR_SERVO_20: + case DEVICE_ID_1MOTOR_SERVO_30: + dev->quad_servo = 0; + break; + } + + usb_set_intfdata(interface, dev); + + device_create_file(&interface->dev, &dev_attr_servo0); + if (dev->quad_servo) { + 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->quad_servo ? 4 : 1, dev->version); + if (dev->version == 2) + 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->quad_servo) { + 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); + + kfree(dev); + + dev_info(&interface->dev, "USB %d-Motor PhidgetServo v%d.0 detached\n", + dev->quad_servo ? 4 : 1, dev->version); + + dev_info(&interface->dev, + "WARNING: version 2.0 not tested. Please report if this works.\n"); +} + +static struct usb_driver servo_driver = { + .owner = THIS_MODULE, + .name = "phidgetservo", + .probe = servo_probe, + .disconnect = servo_disconnect, + .id_table = id_table +}; + +static int __init +phidget_servo_init(void) +{ + int retval = 0; + + 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"); - To unsubscribe from this list: send the line "unsubscribe linux-kernel" in the body of a message to majordomo@vger.kernel.org More majordomo info at http://vger.kernel.org/majordomo-info.html Please read the FAQ at http://www.tux.org/lkml/