drivers/usb/misc/phidgetmotorcontrol.c

   1 /*
   2  * USB Phidget MotorControl driver
   3  *
   4  * Copyright (C) 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
  12 #include <linux/kernel.h>
  13 #include <linux/errno.h>
  14 #include <linux/init.h>
  15 #include <linux/module.h>
  16 #include <linux/usb.h>
  17
  18 #include "phidget.h"
  19
  20 #define DRIVER_AUTHOR "Sean Young <sean@mess.org>"
  21 #define DRIVER_DESC "USB PhidgetMotorControl Driver"
  22
  23 #define USB_VENDOR_ID_GLAB              0x06c2
  24 #define USB_DEVICE_ID_MOTORCONTROL      0x0058
  25
  26 #define URB_INT_SIZE                    8
  27
  28 static unsigned long device_no;
  29
  30 struct motorcontrol {
  31         struct usb_device *udev;
  32         struct usb_interface *intf;
  33         struct device *dev;
  34         int dev_no;
  35         u8 inputs[4];
  36         s8 desired_speed[2];
  37         s8 speed[2];
  38         s16 _current[2];
  39         s8 acceleration[2];
  40         struct urb *irq;
  41         unsigned char *data;
  42         dma_addr_t data_dma;
  43
  44         struct delayed_work do_notify;
  45         unsigned long input_events;
  46         unsigned long speed_events;
  47         unsigned long exceed_events;
  48 };
  49
  50 static struct usb_device_id id_table[] = {
  51         { USB_DEVICE(USB_VENDOR_ID_GLAB, USB_DEVICE_ID_MOTORCONTROL) },
  52         {}
  53 };
  54 MODULE_DEVICE_TABLE(usb, id_table);
  55
  56 static int set_motor(struct motorcontrol *mc, int motor)
  57 {
  58         u8 *buffer;
  59         int speed, speed2, acceleration;
  60         int retval;
  61
  62         buffer = kzalloc(8, GFP_KERNEL);
  63         if (!buffer) {
  64                 dev_err(&mc->intf->dev, "%s - out of memory\n", __FUNCTION__);
  65                 return -ENOMEM;
  66         }
  67
  68         acceleration = mc->acceleration[motor] * 10;
  69         /* -127 <= speed <= 127 */
  70         speed = (mc->desired_speed[motor] * 127) / 100;
  71         /* -0x7300 <= speed2 <= 0x7300 */
  72         speed2 = (mc->desired_speed[motor] * 230 * 128) / 100;
  73
  74         buffer[0] = motor;
  75         buffer[1] = speed;
  76         buffer[2] = acceleration >> 8;
  77         buffer[3] = acceleration;
  78         buffer[4] = speed2 >> 8;
  79         buffer[5] = speed2;
  80
  81         retval = usb_control_msg(mc->udev,
  82                          usb_sndctrlpipe(mc->udev, 0),
  83                          0x09, 0x21, 0x0200, 0x0000, buffer, 8, 2000);
  84
  85         if (retval != 8)
  86                 dev_err(&mc->intf->dev, "usb_control_msg returned %d\n",
  87                                 retval);
  88         kfree(buffer);
  89
  90         return retval < 0 ? retval : 0;
  91 }
  92
  93 static void motorcontrol_irq(struct urb *urb)
  94 {
  95         struct motorcontrol *mc = urb->context;
  96         unsigned char *buffer = mc->data;
  97         int i, level;
  98         int status;
  99
 100         switch (urb->status) {
 101         case 0:                 /* success */
 102                 break;
 103         case -ECONNRESET:       /* unlink */
 104         case -ENOENT:
 105         case -ESHUTDOWN:
 106                 return;
 107         /* -EPIPE:  should clear the halt */
 108         default:                /* error */
 109                 goto resubmit;
 110         }
 111
 112         /* digital inputs */
 113         for (i=0; i<4; i++) {
 114                 level = (buffer[0] >> i) & 1;
 115                 if (mc->inputs[i] != level) {
 116                         mc->inputs[i] = level;
 117                         set_bit(i, &mc->input_events);
 118                 }
 119         }
 120
 121         /* motor speed */
 122         if (buffer[2] == 0) {
 123                 for (i=0; i<2; i++) {
 124                 level = ((s8)buffer[4+i]) * 100 / 127;
 125                         if (mc->speed[i] != level) {
 126                                 mc->speed[i] = level;
 127                                 set_bit(i, &mc->speed_events);
 128                         }
 129                 }
 130         } else {
 131                 int index = buffer[3] & 1;
 132
 133                 level = ((s8)buffer[4] << 8) | buffer[5];
 134                 level = level * 100 / 29440;
 135                 if (mc->speed[index] != level) {
 136                         mc->speed[index] = level;
 137                         set_bit(index, &mc->speed_events);
 138                 }
 139
 140                 level = ((s8)buffer[6] << 8) | buffer[7];
 141                 mc->_current[index] = level * 100 / 1572;
 142         }
 143
 144         if (buffer[1] & 1)
 145                 set_bit(0, &mc->exceed_events);
 146
 147         if (buffer[1] & 2)
 148                 set_bit(1, &mc->exceed_events);
 149
 150         if (mc->input_events || mc->exceed_events || mc->speed_events)
 151                 schedule_delayed_work(&mc->do_notify, 0);
 152
 153 resubmit:
 154         status = usb_submit_urb(urb, SLAB_ATOMIC);
 155         if (status)
 156                 dev_err(&mc->intf->dev,
 157                         "can't resubmit intr, %s-%s/motorcontrol0, status %d",
 158                         mc->udev->bus->bus_name,
 159                         mc->udev->devpath, status);
 160 }
 161
 162 static void do_notify(struct work_struct *work)
 163 {
 164         struct motorcontrol *mc =
 165                 container_of(work, struct motorcontrol, do_notify.work);
 166         int i;
 167         char sysfs_file[8];
 168
 169         for (i=0; i<4; i++) {
 170                 if (test_and_clear_bit(i, &mc->input_events)) {
 171                         sprintf(sysfs_file, "input%d", i);
 172                         sysfs_notify(&mc->dev->kobj, NULL, sysfs_file);
 173                 }
 174         }
 175
 176         for (i=0; i<2; i++) {
 177                 if (test_and_clear_bit(i, &mc->speed_events)) {
 178                         sprintf(sysfs_file, "speed%d", i);
 179                         sysfs_notify(&mc->dev->kobj, NULL, sysfs_file);
 180                 }
 181         }
 182
 183         for (i=0; i<2; i++) {
 184                 if (test_and_clear_bit(i, &mc->exceed_events))
 185                         dev_warn(&mc->intf->dev,
 186                                 "motor #%d exceeds 1.5 Amp current limit\n", i);
 187         }
 188 }
 189
 190 #define show_set_speed(value)           \
 191 static ssize_t set_speed##value(struct device *dev,                     \
 192                                         struct device_attribute *attr,  \
 193                                         const char *buf, size_t count)  \
 194 {                                                                       \
 195         struct motorcontrol *mc = dev_get_drvdata(dev);                 \
 196         int speed;                                                      \
 197         int retval;                                                     \
 198                                                                         \
 199         if (sscanf(buf, "%d", &speed) < 1)                              \
 200                 return -EINVAL;                                         \
 201                                                                         \
 202         if (speed < -100 || speed > 100)                                \
 203                 return -EINVAL;                                         \
 204                                                                         \
 205         mc->desired_speed[value] = speed;                               \
 206                                                                         \
 207         retval = set_motor(mc, value);                                  \
 208                                                                         \
 209         return retval ? retval : count;                                 \
 210 }                                                                       \
 211                                                                         \
 212 static ssize_t show_speed##value(struct device *dev,                    \
 213                                         struct device_attribute *attr,  \
 214                                         char *buf)                      \
 215 {                                                                       \
 216         struct motorcontrol *mc = dev_get_drvdata(dev);                 \
 217                                                                         \
 218         return sprintf(buf, "%d\n", mc->speed[value]);                  \
 219 }
 220
 221 #define speed_attr(value)                                               \
 222         __ATTR(speed##value, S_IWUGO | S_IRUGO,                         \
 223                 show_speed##value, set_speed##value)
 224
 225 show_set_speed(0);
 226 show_set_speed(1);
 227
 228 #define show_set_acceleration(value)            \
 229 static ssize_t set_acceleration##value(struct device *dev,              \
 230                                         struct device_attribute *attr,  \
 231                                         const char *buf, size_t count)  \
 232 {                                                                       \
 233         struct motorcontrol *mc = dev_get_drvdata(dev);                 \
 234         int acceleration;                                               \
 235         int retval;                                                     \
 236                                                                         \
 237         if (sscanf(buf, "%d", &acceleration) < 1)                       \
 238                 return -EINVAL;                                         \
 239                                                                         \
 240         if (acceleration < 0 || acceleration > 100)                     \
 241                 return -EINVAL;                                         \
 242                                                                         \
 243         mc->acceleration[value] = acceleration;                         \
 244                                                                         \
 245         retval = set_motor(mc, value);                                  \
 246                                                                         \
 247         return retval ? retval : count;                                 \
 248 }                                                                       \
 249                                                                         \
 250 static ssize_t show_acceleration##value(struct device *dev,             \
 251                                         struct device_attribute *attr,  \
 252                                                         char *buf)      \
 253 {                                                                       \
 254         struct motorcontrol *mc = dev_get_drvdata(dev);                 \
 255                                                                         \
 256         return sprintf(buf, "%d\n", mc->acceleration[value]);           \
 257 }
 258
 259 #define acceleration_attr(value)        \
 260         __ATTR(acceleration##value, S_IWUGO | S_IRUGO,                  \
 261                 show_acceleration##value, set_acceleration##value)
 262
 263 show_set_acceleration(0);
 264 show_set_acceleration(1);
 265
 266 #define show_current(value)     \
 267 static ssize_t show_current##value(struct device *dev,                  \
 268                                         struct device_attribute *attr,  \
 269                                         char *buf)                      \
 270 {                                                                       \
 271         struct motorcontrol *mc = dev_get_drvdata(dev);                 \
 272                                                                         \
 273         return sprintf(buf, "%dmA\n", (int)mc->_current[value]);        \
 274 }
 275
 276 #define current_attr(value)     \
 277         __ATTR(current##value, S_IRUGO, show_current##value, NULL)
 278
 279 show_current(0);
 280 show_current(1);
 281
 282 #define show_input(value)       \
 283 static ssize_t show_input##value(struct device *dev,                    \
 284                                         struct device_attribute *attr,  \
 285                                         char *buf)                      \
 286 {                                                                       \
 287         struct motorcontrol *mc = dev_get_drvdata(dev);                 \
 288                                                                         \
 289         return sprintf(buf, "%d\n", (int)mc->inputs[value]);            \
 290 }
 291
 292 #define input_attr(value)       \
 293         __ATTR(input##value, S_IRUGO, show_input##value, NULL)
 294
 295 show_input(0);
 296 show_input(1);
 297 show_input(2);
 298 show_input(3);
 299
 300 static struct device_attribute dev_attrs[] = {
 301         input_attr(0),
 302         input_attr(1),
 303         input_attr(2),
 304         input_attr(3),
 305         speed_attr(0),
 306         speed_attr(1),
 307         acceleration_attr(0),
 308         acceleration_attr(1),
 309         current_attr(0),
 310         current_attr(1)
 311 };
 312
 313 static int motorcontrol_probe(struct usb_interface *intf, const struct usb_device_id *id)
 314 {
 315         struct usb_device *dev = interface_to_usbdev(intf);
 316         struct usb_host_interface *interface;
 317         struct usb_endpoint_descriptor *endpoint;
 318         struct motorcontrol *mc;
 319         int pipe, maxp, rc = -ENOMEM;
 320         int bit, value, i;
 321
 322         interface = intf->cur_altsetting;
 323         if (interface->desc.bNumEndpoints != 1)
 324                 return -ENODEV;
 325
 326         endpoint = &interface->endpoint[0].desc;
 327         if (!usb_endpoint_dir_in(endpoint))
 328                 return -ENODEV;
 329
 330         /*
 331          * bmAttributes
 332          */
 333         pipe = usb_rcvintpipe(dev, endpoint->bEndpointAddress);
 334         maxp = usb_maxpacket(dev, pipe, usb_pipeout(pipe));
 335
 336         mc = kzalloc(sizeof(*mc), GFP_KERNEL);
 337         if (!mc)
 338                 goto out;
 339
 340         mc->dev_no = -1;
 341         mc->data = usb_buffer_alloc(dev, URB_INT_SIZE, SLAB_ATOMIC, &mc->data_dma);
 342         if (!mc->data)
 343                 goto out;
 344
 345         mc->irq = usb_alloc_urb(0, GFP_KERNEL);
 346         if (!mc->irq)
 347                 goto out;
 348
 349         mc->udev = usb_get_dev(dev);
 350         mc->intf = intf;
 351         mc->acceleration[0] = mc->acceleration[1] = 10;
 352         INIT_DELAYED_WORK(&mc->do_notify, do_notify);
 353         usb_fill_int_urb(mc->irq, mc->udev, pipe, mc->data,
 354                         maxp > URB_INT_SIZE ? URB_INT_SIZE : maxp,
 355                         motorcontrol_irq, mc, endpoint->bInterval);
 356         mc->irq->transfer_dma = mc->data_dma;
 357         mc->irq->transfer_flags |= URB_NO_TRANSFER_DMA_MAP;
 358
 359         usb_set_intfdata(intf, mc);
 360
 361         do {
 362                 bit = find_first_zero_bit(&device_no, sizeof(device_no));
 363                 value = test_and_set_bit(bit, &device_no);
 364         } while(value);
 365         mc->dev_no = bit;
 366
 367         mc->dev = device_create(phidget_class, &mc->udev->dev, 0,
 368                                 "motorcontrol%d", mc->dev_no);
 369         if (IS_ERR(mc->dev)) {
 370                 rc = PTR_ERR(mc->dev);
 371                 mc->dev = NULL;
 372                 goto out;
 373         }
 374
 375         dev_set_drvdata(mc->dev, mc);
 376
 377         if (usb_submit_urb(mc->irq, GFP_KERNEL)) {
 378                 rc = -EIO;
 379                 goto out;
 380         }
 381
 382         for (i=0; i<ARRAY_SIZE(dev_attrs); i++) {
 383                 rc = device_create_file(mc->dev, &dev_attrs[i]);
 384                 if (rc)
 385                         goto out2;
 386         }
 387
 388         dev_info(&intf->dev, "USB PhidgetMotorControl attached\n");
 389
 390         return 0;
 391 out2:
 392         while (i-- > 0)
 393                 device_remove_file(mc->dev, &dev_attrs[i]);
 394 out:
 395         if (mc) {
 396                 usb_free_urb(mc->irq);
 397                 if (mc->data)
 398                         usb_buffer_free(dev, URB_INT_SIZE, mc->data, mc->data_dma);
 399                 if (mc->dev)
 400                         device_unregister(mc->dev);
 401                 if (mc->dev_no >= 0)
 402                         clear_bit(mc->dev_no, &device_no);
 403
 404                 kfree(mc);
 405         }
 406
 407         return rc;
 408 }
 409
 410 static void motorcontrol_disconnect(struct usb_interface *interface)
 411 {
 412         struct motorcontrol *mc;
 413         int i;
 414
 415         mc = usb_get_intfdata(interface);
 416         usb_set_intfdata(interface, NULL);
 417         if (!mc)
 418                 return;
 419
 420         usb_kill_urb(mc->irq);
 421         usb_free_urb(mc->irq);
 422         usb_buffer_free(mc->udev, URB_INT_SIZE, mc->data, mc->data_dma);
 423
 424         cancel_delayed_work(&mc->do_notify);
 425
 426         for (i=0; i<ARRAY_SIZE(dev_attrs); i++)
 427                 device_remove_file(mc->dev, &dev_attrs[i]);
 428
 429         device_unregister(mc->dev);
 430
 431         usb_put_dev(mc->udev);
 432         clear_bit(mc->dev_no, &device_no);
 433         kfree(mc);
 434
 435         dev_info(&interface->dev, "USB PhidgetMotorControl detached\n");
 436 }
 437
 438 static struct usb_driver motorcontrol_driver = {
 439         .name = "phidgetmotorcontrol",
 440         .probe = motorcontrol_probe,
 441         .disconnect = motorcontrol_disconnect,
 442         .id_table = id_table
 443 };
 444
 445 static int __init motorcontrol_init(void)
 446 {
 447         int retval = 0;
 448
 449         retval = usb_register(&motorcontrol_driver);
 450         if (retval)
 451                 err("usb_register failed. Error number %d", retval);
 452
 453         return retval;
 454 }
 455
 456 static void __exit motorcontrol_exit(void)
 457 {
 458         usb_deregister(&motorcontrol_driver);
 459 }
 460
 461 module_init(motorcontrol_init);
 462 module_exit(motorcontrol_exit);
 463
 464 MODULE_AUTHOR(DRIVER_AUTHOR);
 465 MODULE_DESCRIPTION(DRIVER_DESC);
 466 MODULE_LICENSE("GPL");