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

From: Bryan Small
Date: Wed Apr 28 2004 - 21:20:38 EST

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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@xxxxxxxx>
+ *
+ * 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@xxxxxxxx>"
+#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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