USB: Put phidgets driver in a sysfs class
[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 work_struct 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, struct pt_regs *regs)
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_work(&mc->do_notify);
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(void *data)
163 {
164         struct motorcontrol *mc = data;
165         int i;
166         char sysfs_file[8];
167
168         for (i=0; i<4; i++) {
169                 if (test_and_clear_bit(i, &mc->input_events)) {
170                         sprintf(sysfs_file, "input%d", i);
171                         sysfs_notify(&mc->dev->kobj, NULL, sysfs_file);
172                 }
173         }
174
175         for (i=0; i<2; i++) {
176                 if (test_and_clear_bit(i, &mc->speed_events)) {
177                         sprintf(sysfs_file, "speed%d", i);
178                         sysfs_notify(&mc->dev->kobj, NULL, sysfs_file);
179                 }
180         }
181
182         for (i=0; i<2; i++) {
183                 if (test_and_clear_bit(i, &mc->exceed_events))
184                         dev_warn(&mc->intf->dev,
185                                 "motor #%d exceeds 1.5 Amp current limit\n", i);
186         }
187 }
188
189 #define show_set_speed(value)           \
190 static ssize_t set_speed##value(struct device *dev,                     \
191                                         struct device_attribute *attr,  \
192                                         const char *buf, size_t count)  \
193 {                                                                       \
194         struct motorcontrol *mc = dev_get_drvdata(dev);                 \
195         int speed;                                                      \
196         int retval;                                                     \
197                                                                         \
198         if (sscanf(buf, "%d", &speed) < 1)                              \
199                 return -EINVAL;                                         \
200                                                                         \
201         if (speed < -100 || speed > 100)                                \
202                 return -EINVAL;                                         \
203                                                                         \
204         mc->desired_speed[value] = speed;                               \
205                                                                         \
206         retval = set_motor(mc, value);                                  \
207                                                                         \
208         return retval ? retval : count;                                 \
209 }                                                                       \
210                                                                         \
211 static ssize_t show_speed##value(struct device *dev,                    \
212                                         struct device_attribute *attr,  \
213                                         char *buf)                      \
214 {                                                                       \
215         struct motorcontrol *mc = dev_get_drvdata(dev);                 \
216                                                                         \
217         return sprintf(buf, "%d\n", mc->speed[value]);                  \
218 }                                                                       \
219 static DEVICE_ATTR(speed##value, S_IWUGO | S_IRUGO,                     \
220                 show_speed##value, set_speed##value);
221 show_set_speed(0);
222 show_set_speed(1);
223
224 #define show_set_acceleration(value)            \
225 static ssize_t set_acceleration##value(struct device *dev,              \
226                                         struct device_attribute *attr,  \
227                                         const char *buf, size_t count)  \
228 {                                                                       \
229         struct motorcontrol *mc = dev_get_drvdata(dev);                 \
230         int acceleration;                                               \
231         int retval;                                                     \
232                                                                         \
233         if (sscanf(buf, "%d", &acceleration) < 1)                       \
234                 return -EINVAL;                                         \
235                                                                         \
236         if (acceleration < 0 || acceleration > 100)                     \
237                 return -EINVAL;                                         \
238                                                                         \
239         mc->acceleration[value] = acceleration;                         \
240                                                                         \
241         retval = set_motor(mc, value);                                  \
242                                                                         \
243         return retval ? retval : count;                                 \
244 }                                                                       \
245                                                                         \
246 static ssize_t show_acceleration##value(struct device *dev,             \
247                                         struct device_attribute *attr,  \
248                                                         char *buf)      \
249 {                                                                       \
250         struct motorcontrol *mc = dev_get_drvdata(dev);                 \
251                                                                         \
252         return sprintf(buf, "%d\n", mc->acceleration[value]);           \
253 }                                                                       \
254 static DEVICE_ATTR(acceleration##value, S_IWUGO | S_IRUGO,              \
255                 show_acceleration##value, set_acceleration##value);
256 show_set_acceleration(0);
257 show_set_acceleration(1);
258
259 #define show_current(value)     \
260 static ssize_t show_current##value(struct device *dev,                  \
261                                         struct device_attribute *attr,  \
262                                         char *buf)                      \
263 {                                                                       \
264         struct motorcontrol *mc = dev_get_drvdata(dev);                 \
265                                                                         \
266         return sprintf(buf, "%dmA\n", (int)mc->_current[value]);        \
267 }                                                                       \
268 static DEVICE_ATTR(current##value, S_IRUGO, show_current##value, NULL);
269
270 show_current(0);
271 show_current(1);
272
273 #define show_input(value)       \
274 static ssize_t show_input##value(struct device *dev,                    \
275                                         struct device_attribute *attr,  \
276                                         char *buf)                      \
277 {                                                                       \
278         struct motorcontrol *mc = dev_get_drvdata(dev);                 \
279                                                                         \
280         return sprintf(buf, "%d\n", (int)mc->inputs[value]);            \
281 }                                                                       \
282 static DEVICE_ATTR(input##value, S_IRUGO, show_input##value, NULL);
283
284 show_input(0);
285 show_input(1);
286 show_input(2);
287 show_input(3);
288
289 static int motorcontrol_probe(struct usb_interface *intf, const struct usb_device_id *id)
290 {
291         struct usb_device *dev = interface_to_usbdev(intf);
292         struct usb_host_interface *interface;
293         struct usb_endpoint_descriptor *endpoint;
294         struct motorcontrol *mc;
295         int pipe, maxp, rc = -ENOMEM;
296         int bit, value;
297
298         interface = intf->cur_altsetting;
299         if (interface->desc.bNumEndpoints != 1)
300                 return -ENODEV;
301
302         endpoint = &interface->endpoint[0].desc;
303         if (!(endpoint->bEndpointAddress & 0x80))
304                 return -ENODEV;
305
306         /*
307          * bmAttributes
308          */
309         pipe = usb_rcvintpipe(dev, endpoint->bEndpointAddress);
310         maxp = usb_maxpacket(dev, pipe, usb_pipeout(pipe));
311
312         mc = kzalloc(sizeof(*mc), GFP_KERNEL);
313         if (!mc)
314                 goto out;
315
316         mc->dev_no = -1;
317         mc->data = usb_buffer_alloc(dev, URB_INT_SIZE, SLAB_ATOMIC, &mc->data_dma);
318         if (!mc->data)
319                 goto out;
320
321         mc->irq = usb_alloc_urb(0, GFP_KERNEL);
322         if (!mc->irq)
323                 goto out;
324
325         mc->udev = usb_get_dev(dev);
326         mc->intf = intf;
327         mc->acceleration[0] = mc->acceleration[1] = 10;
328         INIT_WORK(&mc->do_notify, do_notify, mc);
329         usb_fill_int_urb(mc->irq, mc->udev, pipe, mc->data,
330                         maxp > URB_INT_SIZE ? URB_INT_SIZE : maxp,
331                         motorcontrol_irq, mc, endpoint->bInterval);
332         mc->irq->transfer_dma = mc->data_dma;
333         mc->irq->transfer_flags |= URB_NO_TRANSFER_DMA_MAP;
334
335         usb_set_intfdata(intf, mc);
336
337         do {
338                 bit = find_first_zero_bit(&device_no, sizeof(device_no));
339                 value = test_and_set_bit(bit, &device_no);
340         } while(value);
341         mc->dev_no = bit;
342
343         mc->dev = device_create(phidget_class, &mc->udev->dev, 0,
344                                 "motorcontrol%d", mc->dev_no);
345         if (IS_ERR(mc->dev)) {
346                 rc = PTR_ERR(mc->dev);
347                 mc->dev = NULL;
348                 goto out;
349         }
350
351         dev_set_drvdata(mc->dev, mc);
352
353         if (usb_submit_urb(mc->irq, GFP_KERNEL)) {
354                 rc = -EIO;
355                 goto out;
356         }
357
358         device_create_file(mc->dev, &dev_attr_input0);
359         device_create_file(mc->dev, &dev_attr_input1);
360         device_create_file(mc->dev, &dev_attr_input2);
361         device_create_file(mc->dev, &dev_attr_input3);
362
363         device_create_file(mc->dev, &dev_attr_speed0);
364         device_create_file(mc->dev, &dev_attr_speed1);
365
366         device_create_file(mc->dev, &dev_attr_acceleration0);
367         device_create_file(mc->dev, &dev_attr_acceleration1);
368
369         device_create_file(mc->dev, &dev_attr_current0);
370         device_create_file(mc->dev, &dev_attr_current1);
371
372         dev_info(&intf->dev, "USB PhidgetMotorControl attached\n");
373
374         return 0;
375
376 out:
377         if (mc) {
378                 if (mc->irq)
379                         usb_free_urb(mc->irq);
380                 if (mc->data)
381                         usb_buffer_free(dev, URB_INT_SIZE, mc->data, mc->data_dma);
382                 if (mc->dev)
383                         device_unregister(mc->dev);
384                 if (mc->dev_no >= 0)
385                         clear_bit(mc->dev_no, &device_no);
386
387                 kfree(mc);
388         }
389
390         return rc;
391 }
392
393 static void motorcontrol_disconnect(struct usb_interface *interface)
394 {
395         struct motorcontrol *mc;
396
397         mc = usb_get_intfdata(interface);
398         usb_set_intfdata(interface, NULL);
399         if (!mc)
400                 return;
401
402         usb_kill_urb(mc->irq);
403         usb_free_urb(mc->irq);
404         usb_buffer_free(mc->udev, URB_INT_SIZE, mc->data, mc->data_dma);
405
406         cancel_delayed_work(&mc->do_notify);
407
408         device_remove_file(mc->dev, &dev_attr_input0);
409         device_remove_file(mc->dev, &dev_attr_input1);
410         device_remove_file(mc->dev, &dev_attr_input2);
411         device_remove_file(mc->dev, &dev_attr_input3);
412
413         device_remove_file(mc->dev, &dev_attr_speed0);
414         device_remove_file(mc->dev, &dev_attr_speed1);
415
416         device_remove_file(mc->dev, &dev_attr_acceleration0);
417         device_remove_file(mc->dev, &dev_attr_acceleration1);
418
419         device_remove_file(mc->dev, &dev_attr_current0);
420         device_remove_file(mc->dev, &dev_attr_current1);
421
422         device_unregister(mc->dev);
423
424         usb_put_dev(mc->udev);
425         clear_bit(mc->dev_no, &device_no);
426         kfree(mc);
427
428         dev_info(&interface->dev, "USB PhidgetMotorControl detached\n");
429 }
430
431 static struct usb_driver motorcontrol_driver = {
432         .name = "phidgetmotorcontrol",
433         .probe = motorcontrol_probe,
434         .disconnect = motorcontrol_disconnect,
435         .id_table = id_table
436 };
437
438 static int __init motorcontrol_init(void)
439 {
440         int retval = 0;
441
442         retval = usb_register(&motorcontrol_driver);
443         if (retval)
444                 err("usb_register failed. Error number %d", retval);
445
446         return retval;
447 }
448
449 static void __exit motorcontrol_exit(void)
450 {
451         usb_deregister(&motorcontrol_driver);
452 }
453
454 module_init(motorcontrol_init);
455 module_exit(motorcontrol_exit);
456
457 MODULE_AUTHOR(DRIVER_AUTHOR);
458 MODULE_DESCRIPTION(DRIVER_DESC);
459 MODULE_LICENSE("GPL");