Re: [PATCH] USB: add new USB PhidgetServo driver

[Bryan Small <code_smith@comcast.net>]

   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");
>