/* * 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 * * CAUTION: Generally you should use 0 < degrees < 180 as anything else * is probably beyond the range of your servo and may damage it. */ #include #include #include #include #include #include #include "phidget.h" #define DRIVER_AUTHOR "Sean Young " #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); static int unsigned long device_no; struct phidget_servo { struct usb_device *udev; struct device *dev; int dev_no; 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 phidget_servo *servo = dev_get_drvdata(dev); \ \ 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 phidget_servo *servo = dev_get_drvdata(dev); \ \ 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; int bit, value; 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); do { bit = find_first_zero_bit(&device_no, sizeof(device_no)); value = test_and_set_bit(bit, &device_no); } while(value); dev->dev_no = bit; dev->dev = device_create(phidget_class, &dev->udev->dev, 0, "servo%d", dev->dev_no); if (IS_ERR(dev->dev)) { int rc = PTR_ERR(dev->dev); clear_bit(dev->dev_no, &device_no); kfree(dev); return rc; } device_create_file(dev->dev, &dev_attr_servo0); if (dev->type & SERVO_COUNT_QUAD) { device_create_file(dev->dev, &dev_attr_servo1); device_create_file(dev->dev, &dev_attr_servo2); device_create_file(dev->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(dev->dev, &dev_attr_servo0); if (dev->type & SERVO_COUNT_QUAD) { device_remove_file(dev->dev, &dev_attr_servo1); device_remove_file(dev->dev, &dev_attr_servo2); device_remove_file(dev->dev, &dev_attr_servo3); } device_unregister(dev->dev); 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); clear_bit(dev->dev_no, &device_no); 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");