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SubjectRe: [PATCH] USB: add new USB PhidgetServo driver
Date
   Really cool Sean. I am currently working on the IfKit for both the 
8/8/8 and the 0/8/8 on the textlcds. Also working on the textlcds
output.

If I get these done soon was thinking of moving to RFID, so that we can
also possibly throw in Chesters PAM auth module idea in.

Bryan
On Apr 28, 2004, at 2:18 PM, Sean Young wrote:

> Here is a driver for the usb servo controllers from Phidgets
> <http://www.phidgets.com/>, using sysfs.
>
> Note that the devices claim to be hid devices, so I've added them to
> the
> hid_blacklist (HID_QUIRK_IGNORE). A servo controller isn't really an
> hid
> device (or is it?).
>
> diff against 2.6.6-rc2.
>
>
> Sean
>
>
> diff -Nur linux-2.6.0/drivers/usb/Makefile
> /usr/src/linux-2.6.0/drivers/usb/Makefile
> --- linux-2.6.0/drivers/usb/Makefile 2004-04-22 11:25:19.000000000
> +0200
> +++ /usr/src/linux-2.6.0/drivers/usb/Makefile 2004-04-21
> 18:02:00.000000000 +0200
> @@ -66,3 +66,4 @@
> obj-$(CONFIG_USB_TEST) += misc/
> obj-$(CONFIG_USB_TIGL) += misc/
> obj-$(CONFIG_USB_USS720) += misc/
> +obj-$(CONFIG_USB_PHIDGETSERVO) += misc/
> diff -Nur linux-2.6.0/drivers/usb/input/hid-core.c
> /usr/src/linux-2.6.0/drivers/usb/input/hid-core.c
> --- linux-2.6.0/drivers/usb/input/hid-core.c 2004-04-12
> 19:36:21.000000000 +0200
> +++ /usr/src/linux-2.6.0/drivers/usb/input/hid-core.c 2004-04-22
> 11:54:25.000000000 +0200
> @@ -1412,6 +1412,14 @@
> #define USB_VENDOR_ID_CHIC 0x05fe
> #define USB_DEVICE_ID_CHIC_GAMEPAD 0x0014
>
> +#define USB_VENDOR_ID_GLAB 0x06c2
> +#define USB_DEVICE_ID_4_PHIDGETSERVO_30 0x0038
> +#define USB_DEVICE_ID_1_PHIDGETSERVO_30 0x0039
> +
> +#define USB_VENDOR_ID_WISEGROUP 0x0925
> +#define USB_DEVICE_ID_1_PHIDGETSERVO_20 0x8101
> +#define USB_DEVICE_ID_4_PHIDGETSERVO_20 0x8104
> +
> struct hid_blacklist {
> __u16 idVendor;
> __u16 idProduct;
> @@ -1459,6 +1467,10 @@
> { USB_VENDOR_ID_WACOM, USB_DEVICE_ID_WACOM_INTUOS2 + 7,
> HID_QUIRK_IGNORE },
> { USB_VENDOR_ID_WACOM, USB_DEVICE_ID_WACOM_VOLITO, HID_QUIRK_IGNORE
> },
> { USB_VENDOR_ID_WACOM, USB_DEVICE_ID_WACOM_PTU, HID_QUIRK_IGNORE },
> + { USB_VENDOR_ID_GLAB, USB_DEVICE_ID_4_PHIDGETSERVO_30,
> HID_QUIRK_IGNORE },
> + { USB_VENDOR_ID_GLAB, USB_DEVICE_ID_1_PHIDGETSERVO_30,
> HID_QUIRK_IGNORE },
> + { USB_VENDOR_ID_WISEGROUP, USB_DEVICE_ID_4_PHIDGETSERVO_20,
> HID_QUIRK_IGNORE },
> + { USB_VENDOR_ID_WISEGROUP, USB_DEVICE_ID_1_PHIDGETSERVO_20,
> HID_QUIRK_IGNORE },
>
> { USB_VENDOR_ID_ATEN, USB_DEVICE_ID_ATEN_UC100KM, HID_QUIRK_NOGET },
> { USB_VENDOR_ID_ATEN, USB_DEVICE_ID_ATEN_CS124U, HID_QUIRK_NOGET },
> diff -Nur linux-2.6.0/drivers/usb/misc/Kconfig
> /usr/src/linux-2.6.0/drivers/usb/misc/Kconfig
> --- linux-2.6.0/drivers/usb/misc/Kconfig 2004-04-22 11:25:20.000000000
> +0200
> +++ /usr/src/linux-2.6.0/drivers/usb/misc/Kconfig 2004-04-21
> 18:02:00.000000000 +0200
> @@ -133,6 +133,18 @@
> To compile this driver as a module, choose M here: the
> module will be called speedtch.
>
> +config USB_PHIDGETSERVO
> + tristate "USB PhidgetServo support"
> + depends on USB
> + help
> + Say Y here if you want to connect an 1 or 4 Motor PhidgetServo
> + servo controller version 2.0 or 3.0.
> +
> + Phidgets Inc. has a web page at <http://www.phidgets.com/>.
> +
> + To compile this driver as a module, choose M here: the
> + module will be called phidgetservo.
> +
> config USB_TEST
> tristate "USB testing driver (DEVELOPMENT)"
> depends on USB && USB_DEVICEFS && EXPERIMENTAL
> diff -Nur linux-2.6.0/drivers/usb/misc/Makefile
> /usr/src/linux-2.6.0/drivers/usb/misc/Makefile
> --- linux-2.6.0/drivers/usb/misc/Makefile 2004-04-22
> 11:25:20.000000000 +0200
> +++ /usr/src/linux-2.6.0/drivers/usb/misc/Makefile 2004-04-21
> 18:02:00.000000000 +0200
> @@ -15,3 +15,4 @@
> obj-$(CONFIG_USB_TEST) += usbtest.o
> obj-$(CONFIG_USB_TIGL) += tiglusb.o
> obj-$(CONFIG_USB_USS720) += uss720.o
> +obj-$(CONFIG_USB_PHIDGETSERVO) += phidgetservo.o
> diff -Nur linux-2.6.0/drivers/usb/misc/phidgetservo.c
> /usr/src/linux-2.6.0/drivers/usb/misc/phidgetservo.c
> --- linux-2.6.0/drivers/usb/misc/phidgetservo.c 1970-01-01
> 01:00:00.000000000 +0100
> +++ /usr/src/linux-2.6.0/drivers/usb/misc/phidgetservo.c 2004-04-27
> 13:03:07.000000000 +0200
> @@ -0,0 +1,330 @@
> +/*
> + * USB PhidgetServo driver 1.0
> + *
> + * Copyright (C) 2004 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
> + * -23 < degrees < 203
> + * 0 < minutes < 59
> + *
> + * 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/config.h>
> +#ifdef CONFIG_USB_DEBUG
> +#define DEBUG 1
> +#endif
> +#include <linux/kernel.h>
> +#include <linux/errno.h>
> +#include <linux/init.h>
> +#include <linux/slab.h>
> +#include <linux/module.h>
> +#include <linux/usb.h>
> +
> +#define DRIVER_AUTHOR "Sean Young <sean@mess.org>"
> +#define DRIVER_DESC "USB PhidgetServo Driver"
> +
> +#define VENDOR_ID_GLAB 0x06c2
> +#define DEVICE_ID_4MOTOR_SERVO_30 0x0038
> +#define DEVICE_ID_1MOTOR_SERVO_30 0x0039
> +
> +#define VENDOR_ID_WISEGROUP 0x0925
> +#define DEVICE_ID_1MOTOR_SERVO_20 0x8101
> +#define DEVICE_ID_4MOTOR_SERVO_20 0x8104
> +
> +static struct usb_device_id id_table[] = {
> + {USB_DEVICE(VENDOR_ID_GLAB, DEVICE_ID_4MOTOR_SERVO_30)},
> + {USB_DEVICE(VENDOR_ID_GLAB, DEVICE_ID_1MOTOR_SERVO_30)},
> + {USB_DEVICE(VENDOR_ID_WISEGROUP, DEVICE_ID_4MOTOR_SERVO_20)},
> + {USB_DEVICE(VENDOR_ID_WISEGROUP, DEVICE_ID_1MOTOR_SERVO_20)},
> + {}
> +};
> +
> +MODULE_DEVICE_TABLE(usb, id_table);
> +
> +struct phidget_servo {
> + struct usb_device *udev;
> + int version;
> + int quad_servo;
> + int pulse[4];
> + int degrees[4];
> + int minutes[4];
> +};
> +
> +static void
> +change_position_v30(struct phidget_servo *servo, int servo_no, int
> degrees,
> + int minutes)
> +{
> + int retval;
> + unsigned char *buffer;
> +
> + /*
> + * 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;
> +
> + buffer = kmalloc(6, GFP_KERNEL);
> + if (!buffer) {
> + dev_err(&servo->udev->dev, "%s - out of memory\n",
> + __FUNCTION__);
> + return;
> + }
> +
> + /*
> + * 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, 2 * HZ);
> + if (retval != 6)
> + dev_err(&servo->udev->dev, "retval = %d\n", retval);
> + kfree(buffer);
> +}
> +
> +static void
> +change_position_v20(struct phidget_servo *servo, int servo_no, int
> degrees,
> + int minutes)
> +{
> + int retval;
> + unsigned char *buffer;
> +
> + /*
> + * angle = 0 - 180 degrees
> + * pulse = angle + 23
> + */
> + servo->pulse[servo_no]= degrees + 23;
> + servo->degrees[servo_no]= degrees;
> + servo->minutes[servo_no]= 0;
> +
> + buffer = kmalloc(2, GFP_KERNEL);
> + if (!buffer) {
> + dev_err(&servo->udev->dev, "%s - out of memory\n",
> + __FUNCTION__);
> + return;
> + }
> +
> + /*
> + * 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, 2 * HZ);
> + if (retval != 2)
> + dev_err(&servo->udev->dev, "retval = %d\n", retval);
> + kfree(buffer);
> +}
> +
> +#define show_set(value) \
> +static ssize_t set_servo##value (struct device *dev, \
> + const char *buf, size_t count) \
> +{ \
> + int degrees, minutes; \
> + struct usb_interface *intf = to_usb_interface (dev); \
> + struct phidget_servo *servo = usb_get_intfdata (intf); \
> + \
> + minutes = 0; \
> + /* must at least convert degrees */ \
> + if (sscanf (buf, "%d.%d", &degrees, &minutes) < 1) { \
> + return -EINVAL; \
> + } \
> + \
> + if (degrees < -23 || degrees > (180 + 23) || \
> + minutes < 0 || minutes > 59) { \
> + return -EINVAL; \
> + } \
> + \
> + if (servo->version >= 3) \
> + change_position_v30 (servo, value, degrees, minutes); \
> + else \
> + change_position_v20 (servo, value, degrees, minutes); \
> + \
> + return count; \
> +} \
> + \
> +static ssize_t show_servo##value (struct device *dev, char *buf) \
> +{ \
> + struct usb_interface *intf = to_usb_interface (dev); \
> + struct phidget_servo *servo = usb_get_intfdata (intf); \
> + \
> + return sprintf (buf, "%d.%02d\n", servo->degrees[value], \
> + servo->minutes[value]); \
> +} \
> +static DEVICE_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 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 = NULL;
> +
> + dev = kmalloc(sizeof (struct phidget_servo), GFP_KERNEL);
> + if (dev == NULL) {
> + dev_err(&interface->dev, "%s - out of memory\n", __FUNCTION__);
> + return -ENOMEM;
> + }
> + memset(dev, 0x00, sizeof (*dev));
> +
> + dev->udev = usb_get_dev(udev);
> + switch (udev->descriptor.idVendor) {
> + case VENDOR_ID_WISEGROUP:
> + dev->version = 2;
> + break;
> + case VENDOR_ID_GLAB:
> + dev->version = 3;
> + break;
> + }
> + switch (udev->descriptor.idProduct) {
> + case DEVICE_ID_4MOTOR_SERVO_20:
> + case DEVICE_ID_4MOTOR_SERVO_30:
> + dev->quad_servo = 1;
> + break;
> + case DEVICE_ID_1MOTOR_SERVO_20:
> + case DEVICE_ID_1MOTOR_SERVO_30:
> + dev->quad_servo = 0;
> + break;
> + }
> +
> + usb_set_intfdata(interface, dev);
> +
> + device_create_file(&interface->dev, &dev_attr_servo0);
> + if (dev->quad_servo) {
> + device_create_file(&interface->dev, &dev_attr_servo1);
> + device_create_file(&interface->dev, &dev_attr_servo2);
> + device_create_file(&interface->dev, &dev_attr_servo3);
> + }
> +
> + dev_info(&interface->dev, "USB %d-Motor PhidgetServo v%d.0
> attached\n",
> + dev->quad_servo ? 4 : 1, dev->version);
> + if (dev->version == 2)
> + dev_info(&interface->dev,
> + "WARNING: v2.0 not tested! Please report if it works.\n");
> +
> + return 0;
> +}
> +
> +static void
> +servo_disconnect(struct usb_interface *interface)
> +{
> + struct phidget_servo *dev;
> +
> + dev = usb_get_intfdata(interface);
> + usb_set_intfdata(interface, NULL);
> +
> + device_remove_file(&interface->dev, &dev_attr_servo0);
> + if (dev->quad_servo) {
> + device_remove_file(&interface->dev, &dev_attr_servo1);
> + device_remove_file(&interface->dev, &dev_attr_servo2);
> + device_remove_file(&interface->dev, &dev_attr_servo3);
> + }
> +
> + usb_put_dev(dev->udev);
> +
> + kfree(dev);
> +
> + dev_info(&interface->dev, "USB %d-Motor PhidgetServo v%d.0
> detached\n",
> + dev->quad_servo ? 4 : 1, dev->version);
> +
> + dev_info(&interface->dev,
> + "WARNING: version 2.0 not tested. Please report if this works.\n");
> +}
> +
> +static struct usb_driver servo_driver = {
> + .owner = THIS_MODULE,
> + .name = "phidgetservo",
> + .probe = servo_probe,
> + .disconnect = servo_disconnect,
> + .id_table = id_table
> +};
> +
> +static int __init
> +phidget_servo_init(void)
> +{
> + int retval = 0;
> +
> + 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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