USB: replace remaining __FUNCTION__ occurrences
[linux-2.6.git] / 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", __func__);
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 retval;
99         int status = urb->status;;
100
101         switch (status) {
102         case 0:                 /* success */
103                 break;
104         case -ECONNRESET:       /* unlink */
105         case -ENOENT:
106         case -ESHUTDOWN:
107                 return;
108         /* -EPIPE:  should clear the halt */
109         default:                /* error */
110                 goto resubmit;
111         }
112
113         /* digital inputs */
114         for (i=0; i<4; i++) {
115                 level = (buffer[0] >> i) & 1;
116                 if (mc->inputs[i] != level) {
117                         mc->inputs[i] = level;
118                         set_bit(i, &mc->input_events);
119                 }
120         }
121
122         /* motor speed */
123         if (buffer[2] == 0) {
124                 for (i=0; i<2; i++) {
125                 level = ((s8)buffer[4+i]) * 100 / 127;
126                         if (mc->speed[i] != level) {
127                                 mc->speed[i] = level;
128                                 set_bit(i, &mc->speed_events);
129                         }
130                 }
131         } else {
132                 int index = buffer[3] & 1;
133
134                 level = ((s8)buffer[4] << 8) | buffer[5];
135                 level = level * 100 / 29440;
136                 if (mc->speed[index] != level) {
137                         mc->speed[index] = level;
138                         set_bit(index, &mc->speed_events);
139                 }
140
141                 level = ((s8)buffer[6] << 8) | buffer[7];
142                 mc->_current[index] = level * 100 / 1572;
143         }
144
145         if (buffer[1] & 1)
146                 set_bit(0, &mc->exceed_events);
147
148         if (buffer[1] & 2)
149                 set_bit(1, &mc->exceed_events);
150
151         if (mc->input_events || mc->exceed_events || mc->speed_events)
152                 schedule_delayed_work(&mc->do_notify, 0);
153
154 resubmit:
155         retval = usb_submit_urb(urb, GFP_ATOMIC);
156         if (retval)
157                 dev_err(&mc->intf->dev,
158                         "can't resubmit intr, %s-%s/motorcontrol0, retval %d\n",
159                         mc->udev->bus->bus_name,
160                         mc->udev->devpath, retval);
161 }
162
163 static void do_notify(struct work_struct *work)
164 {
165         struct motorcontrol *mc =
166                 container_of(work, struct motorcontrol, do_notify.work);
167         int i;
168         char sysfs_file[8];
169
170         for (i=0; i<4; i++) {
171                 if (test_and_clear_bit(i, &mc->input_events)) {
172                         sprintf(sysfs_file, "input%d", i);
173                         sysfs_notify(&mc->dev->kobj, NULL, sysfs_file);
174                 }
175         }
176
177         for (i=0; i<2; i++) {
178                 if (test_and_clear_bit(i, &mc->speed_events)) {
179                         sprintf(sysfs_file, "speed%d", i);
180                         sysfs_notify(&mc->dev->kobj, NULL, sysfs_file);
181                 }
182         }
183
184         for (i=0; i<2; i++) {
185                 if (test_and_clear_bit(i, &mc->exceed_events))
186                         dev_warn(&mc->intf->dev,
187                                 "motor #%d exceeds 1.5 Amp current limit\n", i);
188         }
189 }
190
191 #define show_set_speed(value)           \
192 static ssize_t set_speed##value(struct device *dev,                     \
193                                         struct device_attribute *attr,  \
194                                         const char *buf, size_t count)  \
195 {                                                                       \
196         struct motorcontrol *mc = dev_get_drvdata(dev);                 \
197         int speed;                                                      \
198         int retval;                                                     \
199                                                                         \
200         if (sscanf(buf, "%d", &speed) < 1)                              \
201                 return -EINVAL;                                         \
202                                                                         \
203         if (speed < -100 || speed > 100)                                \
204                 return -EINVAL;                                         \
205                                                                         \
206         mc->desired_speed[value] = speed;                               \
207                                                                         \
208         retval = set_motor(mc, value);                                  \
209                                                                         \
210         return retval ? retval : count;                                 \
211 }                                                                       \
212                                                                         \
213 static ssize_t show_speed##value(struct device *dev,                    \
214                                         struct device_attribute *attr,  \
215                                         char *buf)                      \
216 {                                                                       \
217         struct motorcontrol *mc = dev_get_drvdata(dev);                 \
218                                                                         \
219         return sprintf(buf, "%d\n", mc->speed[value]);                  \
220 }
221
222 #define speed_attr(value)                                               \
223         __ATTR(speed##value, S_IWUGO | S_IRUGO,                         \
224                 show_speed##value, set_speed##value)
225
226 show_set_speed(0);
227 show_set_speed(1);
228
229 #define show_set_acceleration(value)            \
230 static ssize_t set_acceleration##value(struct device *dev,              \
231                                         struct device_attribute *attr,  \
232                                         const char *buf, size_t count)  \
233 {                                                                       \
234         struct motorcontrol *mc = dev_get_drvdata(dev);                 \
235         int acceleration;                                               \
236         int retval;                                                     \
237                                                                         \
238         if (sscanf(buf, "%d", &acceleration) < 1)                       \
239                 return -EINVAL;                                         \
240                                                                         \
241         if (acceleration < 0 || acceleration > 100)                     \
242                 return -EINVAL;                                         \
243                                                                         \
244         mc->acceleration[value] = acceleration;                         \
245                                                                         \
246         retval = set_motor(mc, value);                                  \
247                                                                         \
248         return retval ? retval : count;                                 \
249 }                                                                       \
250                                                                         \
251 static ssize_t show_acceleration##value(struct device *dev,             \
252                                         struct device_attribute *attr,  \
253                                                         char *buf)      \
254 {                                                                       \
255         struct motorcontrol *mc = dev_get_drvdata(dev);                 \
256                                                                         \
257         return sprintf(buf, "%d\n", mc->acceleration[value]);           \
258 }
259
260 #define acceleration_attr(value)        \
261         __ATTR(acceleration##value, S_IWUGO | S_IRUGO,                  \
262                 show_acceleration##value, set_acceleration##value)
263
264 show_set_acceleration(0);
265 show_set_acceleration(1);
266
267 #define show_current(value)     \
268 static ssize_t show_current##value(struct device *dev,                  \
269                                         struct device_attribute *attr,  \
270                                         char *buf)                      \
271 {                                                                       \
272         struct motorcontrol *mc = dev_get_drvdata(dev);                 \
273                                                                         \
274         return sprintf(buf, "%dmA\n", (int)mc->_current[value]);        \
275 }
276
277 #define current_attr(value)     \
278         __ATTR(current##value, S_IRUGO, show_current##value, NULL)
279
280 show_current(0);
281 show_current(1);
282
283 #define show_input(value)       \
284 static ssize_t show_input##value(struct device *dev,                    \
285                                         struct device_attribute *attr,  \
286                                         char *buf)                      \
287 {                                                                       \
288         struct motorcontrol *mc = dev_get_drvdata(dev);                 \
289                                                                         \
290         return sprintf(buf, "%d\n", (int)mc->inputs[value]);            \
291 }
292
293 #define input_attr(value)       \
294         __ATTR(input##value, S_IRUGO, show_input##value, NULL)
295
296 show_input(0);
297 show_input(1);
298 show_input(2);
299 show_input(3);
300
301 static struct device_attribute dev_attrs[] = {
302         input_attr(0),
303         input_attr(1),
304         input_attr(2),
305         input_attr(3),
306         speed_attr(0),
307         speed_attr(1),
308         acceleration_attr(0),
309         acceleration_attr(1),
310         current_attr(0),
311         current_attr(1)
312 };
313
314 static int motorcontrol_probe(struct usb_interface *intf, const struct usb_device_id *id)
315 {
316         struct usb_device *dev = interface_to_usbdev(intf);
317         struct usb_host_interface *interface;
318         struct usb_endpoint_descriptor *endpoint;
319         struct motorcontrol *mc;
320         int pipe, maxp, rc = -ENOMEM;
321         int bit, value, i;
322
323         interface = intf->cur_altsetting;
324         if (interface->desc.bNumEndpoints != 1)
325                 return -ENODEV;
326
327         endpoint = &interface->endpoint[0].desc;
328         if (!usb_endpoint_dir_in(endpoint))
329                 return -ENODEV;
330
331         /*
332          * bmAttributes
333          */
334         pipe = usb_rcvintpipe(dev, endpoint->bEndpointAddress);
335         maxp = usb_maxpacket(dev, pipe, usb_pipeout(pipe));
336
337         mc = kzalloc(sizeof(*mc), GFP_KERNEL);
338         if (!mc)
339                 goto out;
340
341         mc->dev_no = -1;
342         mc->data = usb_buffer_alloc(dev, URB_INT_SIZE, GFP_ATOMIC, &mc->data_dma);
343         if (!mc->data)
344                 goto out;
345
346         mc->irq = usb_alloc_urb(0, GFP_KERNEL);
347         if (!mc->irq)
348                 goto out;
349
350         mc->udev = usb_get_dev(dev);
351         mc->intf = intf;
352         mc->acceleration[0] = mc->acceleration[1] = 10;
353         INIT_DELAYED_WORK(&mc->do_notify, do_notify);
354         usb_fill_int_urb(mc->irq, mc->udev, pipe, mc->data,
355                         maxp > URB_INT_SIZE ? URB_INT_SIZE : maxp,
356                         motorcontrol_irq, mc, endpoint->bInterval);
357         mc->irq->transfer_dma = mc->data_dma;
358         mc->irq->transfer_flags |= URB_NO_TRANSFER_DMA_MAP;
359
360         usb_set_intfdata(intf, mc);
361
362         do {
363                 bit = find_first_zero_bit(&device_no, sizeof(device_no));
364                 value = test_and_set_bit(bit, &device_no);
365         } while(value);
366         mc->dev_no = bit;
367
368         mc->dev = device_create(phidget_class, &mc->udev->dev, 0,
369                                 "motorcontrol%d", mc->dev_no);
370         if (IS_ERR(mc->dev)) {
371                 rc = PTR_ERR(mc->dev);
372                 mc->dev = NULL;
373                 goto out;
374         }
375
376         dev_set_drvdata(mc->dev, mc);
377
378         if (usb_submit_urb(mc->irq, GFP_KERNEL)) {
379                 rc = -EIO;
380                 goto out;
381         }
382
383         for (i=0; i<ARRAY_SIZE(dev_attrs); i++) {
384                 rc = device_create_file(mc->dev, &dev_attrs[i]);
385                 if (rc)
386                         goto out2;
387         }
388
389         dev_info(&intf->dev, "USB PhidgetMotorControl attached\n");
390
391         return 0;
392 out2:
393         while (i-- > 0)
394                 device_remove_file(mc->dev, &dev_attrs[i]);
395 out:
396         if (mc) {
397                 usb_free_urb(mc->irq);
398                 if (mc->data)
399                         usb_buffer_free(dev, URB_INT_SIZE, mc->data, mc->data_dma);
400                 if (mc->dev)
401                         device_unregister(mc->dev);
402                 if (mc->dev_no >= 0)
403                         clear_bit(mc->dev_no, &device_no);
404
405                 kfree(mc);
406         }
407
408         return rc;
409 }
410
411 static void motorcontrol_disconnect(struct usb_interface *interface)
412 {
413         struct motorcontrol *mc;
414         int i;
415
416         mc = usb_get_intfdata(interface);
417         usb_set_intfdata(interface, NULL);
418         if (!mc)
419                 return;
420
421         usb_kill_urb(mc->irq);
422         usb_free_urb(mc->irq);
423         usb_buffer_free(mc->udev, URB_INT_SIZE, mc->data, mc->data_dma);
424
425         cancel_delayed_work(&mc->do_notify);
426
427         for (i=0; i<ARRAY_SIZE(dev_attrs); i++)
428                 device_remove_file(mc->dev, &dev_attrs[i]);
429
430         device_unregister(mc->dev);
431
432         usb_put_dev(mc->udev);
433         clear_bit(mc->dev_no, &device_no);
434         kfree(mc);
435
436         dev_info(&interface->dev, "USB PhidgetMotorControl detached\n");
437 }
438
439 static struct usb_driver motorcontrol_driver = {
440         .name = "phidgetmotorcontrol",
441         .probe = motorcontrol_probe,
442         .disconnect = motorcontrol_disconnect,
443         .id_table = id_table
444 };
445
446 static int __init motorcontrol_init(void)
447 {
448         int retval = 0;
449
450         retval = usb_register(&motorcontrol_driver);
451         if (retval)
452                 err("usb_register failed. Error number %d", retval);
453
454         return retval;
455 }
456
457 static void __exit motorcontrol_exit(void)
458 {
459         usb_deregister(&motorcontrol_driver);
460 }
461
462 module_init(motorcontrol_init);
463 module_exit(motorcontrol_exit);
464
465 MODULE_AUTHOR(DRIVER_AUTHOR);
466 MODULE_DESCRIPTION(DRIVER_DESC);
467 MODULE_LICENSE("GPL");