USB: Add driver for PhidgetMotorControl
[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 #define DRIVER_AUTHOR "Sean Young <sean@mess.org>"
19 #define DRIVER_DESC "USB PhidgetMotorControl Driver"
20
21 #define USB_VENDOR_ID_GLAB              0x06c2
22 #define USB_DEVICE_ID_MOTORCONTROL      0x0058
23
24 #define URB_INT_SIZE                    8
25
26 struct motorcontrol {
27         struct usb_device *udev;
28         struct usb_interface *intf;
29         u8 inputs[4];
30         s8 desired_speed[2];
31         s8 speed[2];
32         s16 _current[2];
33         s8 acceleration[2];
34         struct urb *irq;
35         unsigned char *data;
36         dma_addr_t data_dma;
37
38         struct work_struct do_notify;
39         unsigned long input_events;
40         unsigned long speed_events;
41         unsigned long exceed_events;
42 };
43
44 static struct usb_device_id id_table[] = {
45         { USB_DEVICE(USB_VENDOR_ID_GLAB, USB_DEVICE_ID_MOTORCONTROL) },
46         {}
47 };
48 MODULE_DEVICE_TABLE(usb, id_table);
49
50 static int set_motor(struct motorcontrol *mc, int motor)
51 {
52         u8 *buffer;
53         int speed, speed2, acceleration;
54         int retval;
55
56         buffer = kzalloc(8, GFP_KERNEL);
57         if (!buffer) {
58                 dev_err(&mc->intf->dev, "%s - out of memory\n", __FUNCTION__);
59                 return -ENOMEM;
60         }
61
62         acceleration = mc->acceleration[motor] * 10;
63         /* -127 <= speed <= 127 */
64         speed = (mc->desired_speed[motor] * 127) / 100;
65         /* -0x7300 <= speed2 <= 0x7300 */
66         speed2 = (mc->desired_speed[motor] * 230 * 128) / 100;
67
68         buffer[0] = motor;
69         buffer[1] = speed;
70         buffer[2] = acceleration >> 8;
71         buffer[3] = acceleration;
72         buffer[4] = speed2 >> 8;
73         buffer[5] = speed2;
74
75         retval = usb_control_msg(mc->udev,
76                          usb_sndctrlpipe(mc->udev, 0),
77                          0x09, 0x21, 0x0200, 0x0000, buffer, 8, 2000);
78
79         if (retval != 8)
80                 dev_err(&mc->intf->dev, "usb_control_msg returned %d\n",
81                                 retval);
82         kfree(buffer);
83
84         return retval < 0 ? retval : 0;
85 }
86
87 static void motorcontrol_irq(struct urb *urb, struct pt_regs *regs)
88 {
89         struct motorcontrol *mc = urb->context;
90         unsigned char *buffer = mc->data;
91         int i, level;
92         int status;
93
94         switch (urb->status) {
95         case 0:                 /* success */
96                 break;
97         case -ECONNRESET:       /* unlink */
98         case -ENOENT:
99         case -ESHUTDOWN:
100                 return;
101         /* -EPIPE:  should clear the halt */
102         default:                /* error */
103                 goto resubmit;
104         }
105
106         /* digital inputs */
107         for (i=0; i<4; i++) {
108                 level = (buffer[0] >> i) & 1;
109                 if (mc->inputs[i] != level) {
110                         mc->inputs[i] = level;
111                         set_bit(i, &mc->input_events);
112                 }
113         }
114
115         /* motor speed */
116         if (buffer[2] == 0) {
117                 for (i=0; i<2; i++) {
118                 level = ((s8)buffer[4+i]) * 100 / 127;
119                         if (mc->speed[i] != level) {
120                                 mc->speed[i] = level;
121                                 set_bit(i, &mc->speed_events);
122                         }
123                 }
124         } else {
125                 int index = buffer[3] & 1;
126
127                 level = ((s8)buffer[4] << 8) | buffer[5];
128                 level = level * 100 / 29440;
129                 if (mc->speed[index] != level) {
130                         mc->speed[index] = level;
131                         set_bit(index, &mc->speed_events);
132                 }
133
134                 level = ((s8)buffer[6] << 8) | buffer[7];
135                 mc->_current[index] = level * 100 / 1572;
136         }
137
138         if (buffer[1] & 1)
139                 set_bit(0, &mc->exceed_events);
140
141         if (buffer[1] & 2)
142                 set_bit(1, &mc->exceed_events);
143
144         if (mc->input_events || mc->exceed_events || mc->speed_events)
145                 schedule_work(&mc->do_notify);
146
147 resubmit:
148         status = usb_submit_urb(urb, SLAB_ATOMIC);
149         if (status)
150                 dev_err(&mc->intf->dev,
151                         "can't resubmit intr, %s-%s/motorcontrol0, status %d",
152                         mc->udev->bus->bus_name,
153                         mc->udev->devpath, status);
154 }
155
156 static void do_notify(void *data)
157 {
158         struct motorcontrol *mc = data;
159         int i;
160         char sysfs_file[8];
161
162         for (i=0; i<4; i++) {
163                 if (test_and_clear_bit(i, &mc->input_events)) {
164                         sprintf(sysfs_file, "input%d", i);
165                         sysfs_notify(&mc->intf->dev.kobj, NULL, sysfs_file);
166                 }
167         }
168
169         for (i=0; i<2; i++) {
170                 if (test_and_clear_bit(i, &mc->speed_events)) {
171                         sprintf(sysfs_file, "speed%d", i);
172                         sysfs_notify(&mc->intf->dev.kobj, NULL, sysfs_file);
173                 }
174         }
175
176         for (i=0; i<2; i++) {
177                 if (test_and_clear_bit(i, &mc->exceed_events))
178                         dev_warn(&mc->intf->dev,
179                                 "motor #%d exceeds 1.5 Amp current limit\n", i);
180         }
181 }
182
183 #define show_set_speed(value)           \
184 static ssize_t set_speed##value(struct device *dev,                     \
185         struct device_attribute *attr, const char *buf, size_t count)   \
186 {                                                                       \
187         struct usb_interface *intf = to_usb_interface(dev);             \
188         struct motorcontrol *mc = usb_get_intfdata(intf);               \
189         int speed;                                                      \
190         int retval;                                                     \
191                                                                         \
192         if (sscanf(buf, "%d", &speed) < 1)                              \
193                 return -EINVAL;                                         \
194                                                                         \
195         if (speed < -100 || speed > 100)                                \
196                 return -EINVAL;                                         \
197                                                                         \
198         mc->desired_speed[value] = speed;                               \
199                                                                         \
200         retval = set_motor(mc, value);                                  \
201                                                                         \
202         return retval ? retval : count;                                 \
203 }                                                                       \
204                                                                         \
205 static ssize_t show_speed##value(struct device *dev,                    \
206                         struct device_attribute *attr, char *buf)       \
207 {                                                                       \
208         struct usb_interface *intf = to_usb_interface(dev);             \
209         struct motorcontrol *mc = usb_get_intfdata(intf);               \
210                                                                         \
211         return sprintf(buf, "%d\n", mc->speed[value]);                  \
212 }                                                                       \
213 static DEVICE_ATTR(speed##value, S_IWUGO | S_IRUGO,                     \
214                 show_speed##value, set_speed##value);
215 show_set_speed(0);
216 show_set_speed(1);
217
218 #define show_set_acceleration(value)            \
219 static ssize_t set_acceleration##value(struct device *dev,              \
220         struct device_attribute *attr, const char *buf, size_t count)   \
221 {                                                                       \
222         struct usb_interface *intf = to_usb_interface(dev);             \
223         struct motorcontrol *mc = usb_get_intfdata(intf);               \
224         int acceleration;                                               \
225         int retval;                                                     \
226                                                                         \
227         if (sscanf(buf, "%d", &acceleration) < 1)                       \
228                 return -EINVAL;                                         \
229                                                                         \
230         if (acceleration < 0 || acceleration > 100)                     \
231                 return -EINVAL;                                         \
232                                                                         \
233         mc->acceleration[value] = acceleration;                         \
234                                                                         \
235         retval = set_motor(mc, value);                                  \
236                                                                         \
237         return retval ? retval : count;                                 \
238 }                                                                       \
239                                                                         \
240 static ssize_t show_acceleration##value(struct device *dev,             \
241                         struct device_attribute *attr, char *buf)       \
242 {                                                                       \
243         struct usb_interface *intf = to_usb_interface(dev);             \
244         struct motorcontrol *mc = usb_get_intfdata(intf);               \
245                                                                         \
246         return sprintf(buf, "%d\n", mc->acceleration[value]);           \
247 }                                                                       \
248 static DEVICE_ATTR(acceleration##value, S_IWUGO | S_IRUGO,              \
249                 show_acceleration##value, set_acceleration##value);
250 show_set_acceleration(0);
251 show_set_acceleration(1);
252
253 #define show_current(value)     \
254 static ssize_t show_current##value(struct device *dev,                  \
255                         struct device_attribute *attr, char *buf)       \
256 {                                                                       \
257         struct usb_interface *intf = to_usb_interface(dev);             \
258         struct motorcontrol *mc = usb_get_intfdata(intf);               \
259                                                                         \
260         return sprintf(buf, "%dmA\n", (int)mc->_current[value]);        \
261 }                                                                       \
262 static DEVICE_ATTR(current##value, S_IRUGO, show_current##value, NULL);
263
264 show_current(0);
265 show_current(1);
266
267 #define show_input(value)       \
268 static ssize_t show_input##value(struct device *dev,                    \
269                         struct device_attribute *attr, char *buf)       \
270 {                                                                       \
271         struct usb_interface *intf = to_usb_interface(dev);             \
272         struct motorcontrol *mc = usb_get_intfdata(intf);               \
273                                                                         \
274         return sprintf(buf, "%d\n", (int)mc->inputs[value]);            \
275 }                                                                       \
276 static DEVICE_ATTR(input##value, S_IRUGO, show_input##value, NULL);
277
278 show_input(0);
279 show_input(1);
280 show_input(2);
281 show_input(3);
282
283 static int motorcontrol_probe(struct usb_interface *intf, const struct usb_device_id *id)
284 {
285         struct usb_device *dev = interface_to_usbdev(intf);
286         struct usb_host_interface *interface;
287         struct usb_endpoint_descriptor *endpoint;
288         struct motorcontrol *mc;
289         int pipe, maxp, rc = -ENOMEM;
290
291         interface = intf->cur_altsetting;
292         if (interface->desc.bNumEndpoints != 1)
293                 return -ENODEV;
294
295         endpoint = &interface->endpoint[0].desc;
296         if (!(endpoint->bEndpointAddress & 0x80))
297                 return -ENODEV;
298
299         /*
300          * bmAttributes
301          */
302         pipe = usb_rcvintpipe(dev, endpoint->bEndpointAddress);
303         maxp = usb_maxpacket(dev, pipe, usb_pipeout(pipe));
304
305         mc = kzalloc(sizeof(*mc), GFP_KERNEL);
306         if (!mc)
307                 goto out;
308
309         mc->data = usb_buffer_alloc(dev, URB_INT_SIZE, SLAB_ATOMIC, &mc->data_dma);
310         if (!mc->data)
311                 goto out;
312
313         mc->irq = usb_alloc_urb(0, GFP_KERNEL);
314         if (!mc->irq)
315                 goto out;
316
317         mc->udev = usb_get_dev(dev);
318         mc->intf = intf;
319         mc->acceleration[0] = mc->acceleration[1] = 10;
320         INIT_WORK(&mc->do_notify, do_notify, mc);
321         usb_fill_int_urb(mc->irq, mc->udev, pipe, mc->data,
322                         maxp > URB_INT_SIZE ? URB_INT_SIZE : maxp,
323                         motorcontrol_irq, mc, endpoint->bInterval);
324         mc->irq->transfer_dma = mc->data_dma;
325         mc->irq->transfer_flags |= URB_NO_TRANSFER_DMA_MAP;
326
327         usb_set_intfdata(intf, mc);
328
329         if (usb_submit_urb(mc->irq, GFP_KERNEL)) {
330                 rc = -EIO;
331                 goto out;
332         }
333
334         device_create_file(&intf->dev, &dev_attr_input0);
335         device_create_file(&intf->dev, &dev_attr_input1);
336         device_create_file(&intf->dev, &dev_attr_input2);
337         device_create_file(&intf->dev, &dev_attr_input3);
338
339         device_create_file(&intf->dev, &dev_attr_speed0);
340         device_create_file(&intf->dev, &dev_attr_speed1);
341
342         device_create_file(&intf->dev, &dev_attr_acceleration0);
343         device_create_file(&intf->dev, &dev_attr_acceleration1);
344
345         device_create_file(&intf->dev, &dev_attr_current0);
346         device_create_file(&intf->dev, &dev_attr_current1);
347
348         dev_info(&intf->dev, "USB Phidget MotorControl attached\n");
349
350         return 0;
351
352 out:
353         if (mc) {
354                 if (mc->irq)
355                         usb_free_urb(mc->irq);
356                 if (mc->data)
357                         usb_buffer_free(dev, URB_INT_SIZE, mc->data, mc->data_dma);
358                 kfree(mc);
359         }
360
361         return rc;
362 }
363
364 static void motorcontrol_disconnect(struct usb_interface *interface)
365 {
366         struct motorcontrol *mc;
367
368         mc = usb_get_intfdata(interface);
369         usb_set_intfdata(interface, NULL);
370         if (!mc)
371                 return;
372
373         usb_kill_urb(mc->irq);
374         usb_free_urb(mc->irq);
375         usb_buffer_free(mc->udev, URB_INT_SIZE, mc->data, mc->data_dma);
376
377         cancel_delayed_work(&mc->do_notify);
378
379         device_remove_file(&interface->dev, &dev_attr_input0);
380         device_remove_file(&interface->dev, &dev_attr_input1);
381         device_remove_file(&interface->dev, &dev_attr_input2);
382         device_remove_file(&interface->dev, &dev_attr_input3);
383
384         device_remove_file(&interface->dev, &dev_attr_speed0);
385         device_remove_file(&interface->dev, &dev_attr_speed1);
386
387         device_remove_file(&interface->dev, &dev_attr_acceleration0);
388         device_remove_file(&interface->dev, &dev_attr_acceleration1);
389
390         device_remove_file(&interface->dev, &dev_attr_current0);
391         device_remove_file(&interface->dev, &dev_attr_current1);
392
393         dev_info(&interface->dev, "USB Phidget MotorControl disconnected\n");
394
395         usb_put_dev(mc->udev);
396         kfree(mc);
397 }
398
399 static struct usb_driver motorcontrol_driver = {
400         .name = "phidgetmotorcontrol",
401         .probe = motorcontrol_probe,
402         .disconnect = motorcontrol_disconnect,
403         .id_table = id_table
404 };
405
406 static int __init motorcontrol_init(void)
407 {
408         int retval = 0;
409
410         retval = usb_register(&motorcontrol_driver);
411         if (retval)
412                 err("usb_register failed. Error number %d", retval);
413
414         return retval;
415 }
416
417 static void __exit motorcontrol_exit(void)
418 {
419         usb_deregister(&motorcontrol_driver);
420 }
421
422 module_init(motorcontrol_init);
423 module_exit(motorcontrol_exit);
424
425 MODULE_AUTHOR(DRIVER_AUTHOR);
426 MODULE_DESCRIPTION(DRIVER_DESC);
427 MODULE_LICENSE("GPL");