diff options
author | Dave Airlie <airlied@redhat.com> | 2009-03-28 20:22:18 -0400 |
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committer | Dave Airlie <airlied@redhat.com> | 2009-03-28 20:22:18 -0400 |
commit | 90f959bcb386da2c71613dcefc6a285e054a539e (patch) | |
tree | ee3e9dd4111d4aad12e579cb0c2c159114dff263 /drivers/usb/misc/phidgetservo.c | |
parent | 41f13fe81dd1b08723ab9f3fc3c7f29cfa81f1a5 (diff) | |
parent | 07d43ba98621f08e252a48c96b258b4d572b0257 (diff) |
drm: merge Linux master into HEAD
Conflicts:
drivers/gpu/drm/drm_info.c
drivers/gpu/drm/drm_proc.c
drivers/gpu/drm/i915/i915_gem_debugfs.c
Diffstat (limited to 'drivers/usb/misc/phidgetservo.c')
-rw-r--r-- | drivers/usb/misc/phidgetservo.c | 375 |
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", °rees, &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"); |