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path: root/drivers/usb/misc/phidgetservo.c
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Diffstat (limited to 'drivers/usb/misc/phidgetservo.c')
-rw-r--r--drivers/usb/misc/phidgetservo.c375
1 files changed, 0 insertions, 375 deletions
diff --git a/drivers/usb/misc/phidgetservo.c b/drivers/usb/misc/phidgetservo.c
deleted file mode 100644
index bef6fe16364..00000000000
--- a/drivers/usb/misc/phidgetservo.c
+++ /dev/null
@@ -1,375 +0,0 @@
-/*
- * USB PhidgetServo driver 1.0
- *
- * Copyright (C) 2004, 2006 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.
- */
-
-#include <linux/kernel.h>
-#include <linux/errno.h>
-#include <linux/init.h>
-#include <linux/slab.h>
-#include <linux/module.h>
-#include <linux/usb.h>
-
-#include "phidget.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);
-
-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",
- __func__);
- 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",
- __func__);
- 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", &degrees, &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]); \
-}
-
-#define servo_attr(value) \
- __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 struct device_attribute dev_attrs[] = {
- servo_attr(0), servo_attr(1), servo_attr(2), servo_attr(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, rc;
- int servo_count, i;
-
- dev = kzalloc(sizeof (struct phidget_servo), GFP_KERNEL);
- if (dev == NULL) {
- dev_err(&interface->dev, "%s - out of memory\n", __func__);
- rc = -ENOMEM;
- goto out;
- }
-
- dev->udev = usb_get_dev(udev);
- dev->type = id->driver_info;
- dev->dev_no = -1;
- 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, MKDEV(0, 0),
- dev, "servo%d", dev->dev_no);
- if (IS_ERR(dev->dev)) {
- rc = PTR_ERR(dev->dev);
- dev->dev = NULL;
- goto out;
- }
-
- servo_count = dev->type & SERVO_COUNT_QUAD ? 4 : 1;
-
- for (i=0; i<servo_count; i++) {
- rc = device_create_file(dev->dev, &dev_attrs[i]);
- if (rc)
- goto out2;
- }
-
- dev_info(&interface->dev, "USB %d-Motor PhidgetServo v%d.0 attached\n",
- servo_count, 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;
-out2:
- while (i-- > 0)
- device_remove_file(dev->dev, &dev_attrs[i]);
-out:
- if (dev) {
- if (dev->dev)
- device_unregister(dev->dev);
- if (dev->dev_no >= 0)
- clear_bit(dev->dev_no, &device_no);
-
- kfree(dev);
- }
-
- return rc;
-}
-
-static void
-servo_disconnect(struct usb_interface *interface)
-{
- struct phidget_servo *dev;
- int servo_count, i;
-
- dev = usb_get_intfdata(interface);
- usb_set_intfdata(interface, NULL);
-
- if (!dev)
- return;
-
- servo_count = dev->type & SERVO_COUNT_QUAD ? 4 : 1;
-
- for (i=0; i<servo_count; i++)
- device_remove_file(dev->dev, &dev_attrs[i]);
-
- device_unregister(dev->dev);
- usb_put_dev(dev->udev);
-
- dev_info(&interface->dev, "USB %d-Motor PhidgetServo v%d.0 detached\n",
- servo_count, 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");
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