Linux-2.6.12-rc2v2.6.12-rc2

Initial git repository build. I'm not bothering with the full history,
even though we have it. We can create a separate "historical" git
archive of that later if we want to, and in the meantime it's about
3.2GB when imported into git - space that would just make the early
git days unnecessarily complicated, when we don't have a lot of good
infrastructure for it.

Let it rip!

1 files changed, 342 insertions, 0 deletions

diff --git a/drivers/usb/misc/phidgetservo.c b/drivers/usb/misc/phidgetservo.c
new file mode 100644
index 000000000000..4bd291502a3c
--- /dev/null
+++ b/drivers/usb/misc/phidgetservo.c
@@ -0,0 +1,342 @@
+/*
+ * 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
+ *
+ * CAUTION: Generally you should use 0 < degrees < 180 as anything else
+ * is probably beyond the range of your servo and may damage it.
+ *
+ * Jun 16, 2004: Sean Young <sean@mess.org>
+ *  - cleanups
+ *  - was using memory after kfree()
+ * Aug 8, 2004: Sean Young <sean@mess.org>
+ *  - set the highest angle as high as the hardware allows, there are 
+ *    some odd servos out there
+ *
+ */
+
+#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_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);
+
+struct phidget_servo {
+        struct usb_device *udev;
+        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",
+                        __FUNCTION__);
+                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",
+                        __FUNCTION__);
+                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,                    \
+                                        const char *buf, size_t count)  \
+{                                                                       \
+        int degrees, minutes, retval;                                   \
+        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 (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, 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;
+
+        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);
+        dev->type = id->driver_info;
+        usb_set_intfdata(interface, dev);
+
+        device_create_file(&interface->dev, &dev_attr_servo0);
+        if (dev->type & SERVO_COUNT_QUAD) {
+                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->type & SERVO_COUNT_QUAD ? 4 : 1,
+                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;
+}
+
+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->type & SERVO_COUNT_QUAD) {
+                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);
+
+        dev_info(&interface->dev, "USB %d-Motor PhidgetServo v%d.0 detached\n",
+                dev->type & SERVO_COUNT_QUAD ? 4 : 1,
+                dev->type & SERVO_VERSION_30 ? 3 : 2);
+
+        kfree(dev);
+}
+
+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;
+
+        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");