2 * USB PhidgetServo driver 1.0
4 * Copyright (C) 2004 Sean Young <sean@mess.org>
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.
11 * This is a driver for the USB PhidgetServo version 2.0 and 3.0 servo
12 * controllers available at: http://www.phidgets.com/
14 * Note that the driver takes input as: degrees.minutes
16 * CAUTION: Generally you should use 0 < degrees < 180 as anything else
17 * is probably beyond the range of your servo and may damage it.
19 * Jun 16, 2004: Sean Young <sean@mess.org>
21 * - was using memory after kfree()
22 * Aug 8, 2004: Sean Young <sean@mess.org>
23 * - set the highest angle as high as the hardware allows, there are
24 * some odd servos out there
28 #include <linux/kernel.h>
29 #include <linux/errno.h>
30 #include <linux/init.h>
31 #include <linux/slab.h>
32 #include <linux/module.h>
33 #include <linux/usb.h>
35 #define DRIVER_AUTHOR "Sean Young <sean@mess.org>"
36 #define DRIVER_DESC "USB PhidgetServo Driver"
38 #define VENDOR_ID_GLAB 0x06c2
39 #define DEVICE_ID_GLAB_PHIDGETSERVO_QUAD 0x0038
40 #define DEVICE_ID_GLAB_PHIDGETSERVO_UNI 0x0039
42 #define VENDOR_ID_WISEGROUP 0x0925
43 #define VENDOR_ID_WISEGROUP_PHIDGETSERVO_QUAD 0x8101
44 #define VENDOR_ID_WISEGROUP_PHIDGETSERVO_UNI 0x8104
46 #define SERVO_VERSION_30 0x01
47 #define SERVO_COUNT_QUAD 0x02
49 static struct usb_device_id id_table[] = {
51 USB_DEVICE(VENDOR_ID_GLAB, DEVICE_ID_GLAB_PHIDGETSERVO_QUAD),
52 .driver_info = SERVO_VERSION_30 | SERVO_COUNT_QUAD
55 USB_DEVICE(VENDOR_ID_GLAB, DEVICE_ID_GLAB_PHIDGETSERVO_UNI),
56 .driver_info = SERVO_VERSION_30
59 USB_DEVICE(VENDOR_ID_WISEGROUP,
60 VENDOR_ID_WISEGROUP_PHIDGETSERVO_QUAD),
61 .driver_info = SERVO_COUNT_QUAD
64 USB_DEVICE(VENDOR_ID_WISEGROUP,
65 VENDOR_ID_WISEGROUP_PHIDGETSERVO_UNI),
71 MODULE_DEVICE_TABLE(usb, id_table);
73 struct phidget_servo {
74 struct usb_device *udev;
82 change_position_v30(struct phidget_servo *servo, int servo_no, int degrees,
86 unsigned char *buffer;
88 if (degrees < -23 || degrees > 362)
91 buffer = kmalloc(6, GFP_KERNEL);
93 dev_err(&servo->udev->dev, "%s - out of memory\n",
100 * angle = 0 - 180 degrees
102 * pulse = angle * 10.6 + 243.8
104 servo->pulse[servo_no] = ((degrees*60 + minutes)*106 + 2438*60)/600;
105 servo->degrees[servo_no]= degrees;
106 servo->minutes[servo_no]= minutes;
109 * The PhidgetServo v3.0 is controlled by sending 6 bytes,
110 * 4 * 12 bits for each servo.
112 * low = lower 8 bits pulse
113 * high = higher 4 bits pulse
116 * +---+-----------------+
118 * +---+--------+--------+
119 * | 1 | high 1 | high 0 |
120 * +---+--------+--------+
122 * +---+-----------------+
124 * +---+--------+--------+
125 * | 4 | high 3 | high 2 |
126 * +---+--------+--------+
128 * +---+-----------------+
131 buffer[0] = servo->pulse[0] & 0xff;
132 buffer[1] = (servo->pulse[0] >> 8 & 0x0f)
133 | (servo->pulse[1] >> 4 & 0xf0);
134 buffer[2] = servo->pulse[1] & 0xff;
135 buffer[3] = servo->pulse[2] & 0xff;
136 buffer[4] = (servo->pulse[2] >> 8 & 0x0f)
137 | (servo->pulse[3] >> 4 & 0xf0);
138 buffer[5] = servo->pulse[3] & 0xff;
140 dev_dbg(&servo->udev->dev,
141 "data: %02x %02x %02x %02x %02x %02x\n",
142 buffer[0], buffer[1], buffer[2],
143 buffer[3], buffer[4], buffer[5]);
145 retval = usb_control_msg(servo->udev,
146 usb_sndctrlpipe(servo->udev, 0),
147 0x09, 0x21, 0x0200, 0x0000, buffer, 6, 2000);
155 change_position_v20(struct phidget_servo *servo, int servo_no, int degrees,
159 unsigned char *buffer;
161 if (degrees < -23 || degrees > 278)
164 buffer = kmalloc(2, GFP_KERNEL);
166 dev_err(&servo->udev->dev, "%s - out of memory\n",
172 * angle = 0 - 180 degrees
175 servo->pulse[servo_no]= degrees + 23;
176 servo->degrees[servo_no]= degrees;
177 servo->minutes[servo_no]= 0;
180 * The PhidgetServo v2.0 is controlled by sending two bytes. The
181 * first byte is the servo number xor'ed with 2:
188 * The second byte is the position.
191 buffer[0] = servo_no ^ 2;
192 buffer[1] = servo->pulse[servo_no];
194 dev_dbg(&servo->udev->dev, "data: %02x %02x\n", buffer[0], buffer[1]);
196 retval = usb_control_msg(servo->udev,
197 usb_sndctrlpipe(servo->udev, 0),
198 0x09, 0x21, 0x0200, 0x0000, buffer, 2, 2000);
205 #define show_set(value) \
206 static ssize_t set_servo##value (struct device *dev, struct device_attribute *attr, \
207 const char *buf, size_t count) \
209 int degrees, minutes, retval; \
210 struct usb_interface *intf = to_usb_interface (dev); \
211 struct phidget_servo *servo = usb_get_intfdata (intf); \
214 /* must at least convert degrees */ \
215 if (sscanf (buf, "%d.%d", °rees, &minutes) < 1) { \
219 if (minutes < 0 || minutes > 59) \
222 if (servo->type & SERVO_VERSION_30) \
223 retval = change_position_v30 (servo, value, degrees, \
226 retval = change_position_v20 (servo, value, degrees, \
229 return retval < 0 ? retval : count; \
232 static ssize_t show_servo##value (struct device *dev, struct device_attribute *attr, char *buf) \
234 struct usb_interface *intf = to_usb_interface (dev); \
235 struct phidget_servo *servo = usb_get_intfdata (intf); \
237 return sprintf (buf, "%d.%02d\n", servo->degrees[value], \
238 servo->minutes[value]); \
240 static DEVICE_ATTR(servo##value, S_IWUGO | S_IRUGO, \
241 show_servo##value, set_servo##value);
249 servo_probe(struct usb_interface *interface, const struct usb_device_id *id)
251 struct usb_device *udev = interface_to_usbdev(interface);
252 struct phidget_servo *dev;
254 dev = kzalloc(sizeof (struct phidget_servo), GFP_KERNEL);
256 dev_err(&interface->dev, "%s - out of memory\n", __FUNCTION__);
260 dev->udev = usb_get_dev(udev);
261 dev->type = id->driver_info;
262 usb_set_intfdata(interface, dev);
264 device_create_file(&interface->dev, &dev_attr_servo0);
265 if (dev->type & SERVO_COUNT_QUAD) {
266 device_create_file(&interface->dev, &dev_attr_servo1);
267 device_create_file(&interface->dev, &dev_attr_servo2);
268 device_create_file(&interface->dev, &dev_attr_servo3);
271 dev_info(&interface->dev, "USB %d-Motor PhidgetServo v%d.0 attached\n",
272 dev->type & SERVO_COUNT_QUAD ? 4 : 1,
273 dev->type & SERVO_VERSION_30 ? 3 : 2);
275 if(!(dev->type & SERVO_VERSION_30))
276 dev_info(&interface->dev,
277 "WARNING: v2.0 not tested! Please report if it works.\n");
283 servo_disconnect(struct usb_interface *interface)
285 struct phidget_servo *dev;
287 dev = usb_get_intfdata(interface);
288 usb_set_intfdata(interface, NULL);
290 device_remove_file(&interface->dev, &dev_attr_servo0);
291 if (dev->type & SERVO_COUNT_QUAD) {
292 device_remove_file(&interface->dev, &dev_attr_servo1);
293 device_remove_file(&interface->dev, &dev_attr_servo2);
294 device_remove_file(&interface->dev, &dev_attr_servo3);
297 usb_put_dev(dev->udev);
299 dev_info(&interface->dev, "USB %d-Motor PhidgetServo v%d.0 detached\n",
300 dev->type & SERVO_COUNT_QUAD ? 4 : 1,
301 dev->type & SERVO_VERSION_30 ? 3 : 2);
306 static struct usb_driver servo_driver = {
307 .name = "phidgetservo",
308 .probe = servo_probe,
309 .disconnect = servo_disconnect,
314 phidget_servo_init(void)
318 retval = usb_register(&servo_driver);
320 err("usb_register failed. Error number %d", retval);
326 phidget_servo_exit(void)
328 usb_deregister(&servo_driver);
331 module_init(phidget_servo_init);
332 module_exit(phidget_servo_exit);
334 MODULE_AUTHOR(DRIVER_AUTHOR);
335 MODULE_DESCRIPTION(DRIVER_DESC);
336 MODULE_LICENSE("GPL");