[deliverable/linux.git] / drivers / usb / misc / phidgetmotorcontrol.c

/*
 * USB Phidget MotorControl driver
 *
 * Copyright (C) 2006  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.
 */

#include <linux/kernel.h>
#include <linux/errno.h>
#include <linux/init.h>
#include <linux/module.h>
#include <linux/usb.h>

#include "phidget.h"

#define DRIVER_AUTHOR "Sean Young <sean@mess.org>"
#define DRIVER_DESC "USB PhidgetMotorControl Driver"

#define USB_VENDOR_ID_GLAB		0x06c2
#define USB_DEVICE_ID_MOTORCONTROL	0x0058

#define URB_INT_SIZE			8

static unsigned long device_no;

struct motorcontrol {
	struct usb_device *udev;
	struct usb_interface *intf;
	struct device *dev;
	int dev_no;
	u8 inputs[4];
	s8 desired_speed[2];
	s8 speed[2];
	s16 _current[2];
	s8 acceleration[2];
	struct urb *irq;
	unsigned char *data;
	dma_addr_t data_dma;

	struct work_struct do_notify;
	unsigned long input_events;
	unsigned long speed_events;
	unsigned long exceed_events;
};

static struct usb_device_id id_table[] = {
	{ USB_DEVICE(USB_VENDOR_ID_GLAB, USB_DEVICE_ID_MOTORCONTROL) },
	{}
};
MODULE_DEVICE_TABLE(usb, id_table);

static int set_motor(struct motorcontrol *mc, int motor)
{
	u8 *buffer;
	int speed, speed2, acceleration;
	int retval;

	buffer = kzalloc(8, GFP_KERNEL);
	if (!buffer) {
		dev_err(&mc->intf->dev, "%s - out of memory\n", __FUNCTION__);
		return -ENOMEM;
	}

	acceleration = mc->acceleration[motor] * 10;
	/* -127 <= speed <= 127 */
	speed = (mc->desired_speed[motor] * 127) / 100;
	/* -0x7300 <= speed2 <= 0x7300 */
	speed2 = (mc->desired_speed[motor] * 230 * 128) / 100;

	buffer[0] = motor;
	buffer[1] = speed;
	buffer[2] = acceleration >> 8;
	buffer[3] = acceleration;
	buffer[4] = speed2 >> 8;
	buffer[5] = speed2;

	retval = usb_control_msg(mc->udev,
			 usb_sndctrlpipe(mc->udev, 0),
			 0x09, 0x21, 0x0200, 0x0000, buffer, 8, 2000);

	if (retval != 8)
		dev_err(&mc->intf->dev, "usb_control_msg returned %d\n",
				retval);
	kfree(buffer);

	return retval < 0 ? retval : 0;
}

static void motorcontrol_irq(struct urb *urb, struct pt_regs *regs)
{
	struct motorcontrol *mc = urb->context;
	unsigned char *buffer = mc->data;
	int i, level;
	int status;

	switch (urb->status) {
	case 0:			/* success */
		break;
	case -ECONNRESET:	/* unlink */
	case -ENOENT:
	case -ESHUTDOWN:
		return;
	/* -EPIPE:  should clear the halt */
	default:		/* error */
		goto resubmit;
	}

	/* digital inputs */
	for (i=0; i<4; i++) {
		level = (buffer[0] >> i) & 1;
		if (mc->inputs[i] != level) {
			mc->inputs[i] = level;
			set_bit(i, &mc->input_events);
		}
	}

	/* motor speed */
	if (buffer[2] == 0) {
		for (i=0; i<2; i++) {
		level = ((s8)buffer[4+i]) * 100 / 127;
			if (mc->speed[i] != level) {
				mc->speed[i] = level;
				set_bit(i, &mc->speed_events);
			}
		}
	} else {
		int index = buffer[3] & 1;

		level = ((s8)buffer[4] << 8) | buffer[5];
		level = level * 100 / 29440;
		if (mc->speed[index] != level) {
			mc->speed[index] = level;
			set_bit(index, &mc->speed_events);
		}

		level = ((s8)buffer[6] << 8) | buffer[7];
		mc->_current[index] = level * 100 / 1572;
	}

	if (buffer[1] & 1)
		set_bit(0, &mc->exceed_events);

	if (buffer[1] & 2)
		set_bit(1, &mc->exceed_events);

	if (mc->input_events || mc->exceed_events || mc->speed_events)
		schedule_work(&mc->do_notify);

resubmit:
	status = usb_submit_urb(urb, SLAB_ATOMIC);
	if (status)
		dev_err(&mc->intf->dev,
			"can't resubmit intr, %s-%s/motorcontrol0, status %d",
			mc->udev->bus->bus_name,
			mc->udev->devpath, status);
}

static void do_notify(void *data)
{
	struct motorcontrol *mc = data;
	int i;
	char sysfs_file[8];

	for (i=0; i<4; i++) {
		if (test_and_clear_bit(i, &mc->input_events)) {
			sprintf(sysfs_file, "input%d", i);
			sysfs_notify(&mc->dev->kobj, NULL, sysfs_file);
		}
	}

	for (i=0; i<2; i++) {
		if (test_and_clear_bit(i, &mc->speed_events)) {
			sprintf(sysfs_file, "speed%d", i);
			sysfs_notify(&mc->dev->kobj, NULL, sysfs_file);
		}
	}

	for (i=0; i<2; i++) {
		if (test_and_clear_bit(i, &mc->exceed_events))
			dev_warn(&mc->intf->dev,
				"motor #%d exceeds 1.5 Amp current limit\n", i);
	}
}

#define show_set_speed(value)		\
static ssize_t set_speed##value(struct device *dev,			\
					struct device_attribute *attr,	\
					const char *buf, size_t count)	\
{									\
	struct motorcontrol *mc = dev_get_drvdata(dev);			\
	int speed;							\
	int retval;							\
									\
	if (sscanf(buf, "%d", &speed) < 1)				\
		return -EINVAL;						\
									\
	if (speed < -100 || speed > 100)				\
		return -EINVAL;						\
									\
	mc->desired_speed[value] = speed;				\
									\
	retval = set_motor(mc, value);					\
									\
	return retval ? retval : count;					\
}									\
									\
static ssize_t show_speed##value(struct device *dev,			\
					struct device_attribute *attr,	\
					char *buf)			\
{									\
	struct motorcontrol *mc = dev_get_drvdata(dev);			\
									\
	return sprintf(buf, "%d\n", mc->speed[value]);			\
}									\
static DEVICE_ATTR(speed##value, S_IWUGO | S_IRUGO,			\
		show_speed##value, set_speed##value);
show_set_speed(0);
show_set_speed(1);

#define show_set_acceleration(value)		\
static ssize_t set_acceleration##value(struct device *dev, 		\
					struct device_attribute *attr,	\
					const char *buf, size_t count)	\
{									\
	struct motorcontrol *mc = dev_get_drvdata(dev);			\
	int acceleration;						\
	int retval;							\
									\
	if (sscanf(buf, "%d", &acceleration) < 1)			\
		return -EINVAL;						\
									\
	if (acceleration < 0 || acceleration > 100)			\
		return -EINVAL;						\
									\
	mc->acceleration[value] = acceleration;				\
									\
	retval = set_motor(mc, value);					\
									\
	return retval ? retval : count;					\
}									\
									\
static ssize_t show_acceleration##value(struct device *dev,	 	\
					struct device_attribute *attr,	\
							char *buf)	\
{									\
	struct motorcontrol *mc = dev_get_drvdata(dev);			\
									\
	return sprintf(buf, "%d\n", mc->acceleration[value]);		\
}									\
static DEVICE_ATTR(acceleration##value, S_IWUGO | S_IRUGO,		\
		show_acceleration##value, set_acceleration##value);
show_set_acceleration(0);
show_set_acceleration(1);

#define show_current(value)	\
static ssize_t show_current##value(struct device *dev,			\
					struct device_attribute *attr,	\
					char *buf)			\
{									\
	struct motorcontrol *mc = dev_get_drvdata(dev);			\
									\
	return sprintf(buf, "%dmA\n", (int)mc->_current[value]);	\
}									\
static DEVICE_ATTR(current##value, S_IRUGO, show_current##value, NULL);

show_current(0);
show_current(1);

#define show_input(value)	\
static ssize_t show_input##value(struct device *dev,			\
					struct device_attribute *attr,	\
					char *buf)			\
{									\
	struct motorcontrol *mc = dev_get_drvdata(dev);			\
									\
	return sprintf(buf, "%d\n", (int)mc->inputs[value]);		\
}									\
static DEVICE_ATTR(input##value, S_IRUGO, show_input##value, NULL);

show_input(0);
show_input(1);
show_input(2);
show_input(3);

static int motorcontrol_probe(struct usb_interface *intf, const struct usb_device_id *id)
{
	struct usb_device *dev = interface_to_usbdev(intf);
	struct usb_host_interface *interface;
	struct usb_endpoint_descriptor *endpoint;
	struct motorcontrol *mc;
	int pipe, maxp, rc = -ENOMEM;
	int bit, value;

	interface = intf->cur_altsetting;
	if (interface->desc.bNumEndpoints != 1)
		return -ENODEV;

	endpoint = &interface->endpoint[0].desc;
	if (!(endpoint->bEndpointAddress & 0x80))
		return -ENODEV;

	/*
	 * bmAttributes
	 */
	pipe = usb_rcvintpipe(dev, endpoint->bEndpointAddress);
	maxp = usb_maxpacket(dev, pipe, usb_pipeout(pipe));

	mc = kzalloc(sizeof(*mc), GFP_KERNEL);
	if (!mc)
		goto out;

	mc->dev_no = -1;
	mc->data = usb_buffer_alloc(dev, URB_INT_SIZE, SLAB_ATOMIC, &mc->data_dma);
	if (!mc->data)
		goto out;

	mc->irq = usb_alloc_urb(0, GFP_KERNEL);
	if (!mc->irq)
		goto out;

	mc->udev = usb_get_dev(dev);
	mc->intf = intf;
	mc->acceleration[0] = mc->acceleration[1] = 10;
	INIT_WORK(&mc->do_notify, do_notify, mc);
	usb_fill_int_urb(mc->irq, mc->udev, pipe, mc->data,
			maxp > URB_INT_SIZE ? URB_INT_SIZE : maxp,
			motorcontrol_irq, mc, endpoint->bInterval);
	mc->irq->transfer_dma = mc->data_dma;
	mc->irq->transfer_flags |= URB_NO_TRANSFER_DMA_MAP;

	usb_set_intfdata(intf, mc);

	do {
		bit = find_first_zero_bit(&device_no, sizeof(device_no));
		value = test_and_set_bit(bit, &device_no);
	} while(value);
	mc->dev_no = bit;

	mc->dev = device_create(phidget_class, &mc->udev->dev, 0,
				"motorcontrol%d", mc->dev_no);
	if (IS_ERR(mc->dev)) {
		rc = PTR_ERR(mc->dev);
		mc->dev = NULL;
		goto out;
	}

	dev_set_drvdata(mc->dev, mc);

	if (usb_submit_urb(mc->irq, GFP_KERNEL)) {
		rc = -EIO;
		goto out;
	}

	device_create_file(mc->dev, &dev_attr_input0);
	device_create_file(mc->dev, &dev_attr_input1);
	device_create_file(mc->dev, &dev_attr_input2);
	device_create_file(mc->dev, &dev_attr_input3);

	device_create_file(mc->dev, &dev_attr_speed0);
	device_create_file(mc->dev, &dev_attr_speed1);

	device_create_file(mc->dev, &dev_attr_acceleration0);
	device_create_file(mc->dev, &dev_attr_acceleration1);

	device_create_file(mc->dev, &dev_attr_current0);
	device_create_file(mc->dev, &dev_attr_current1);

	dev_info(&intf->dev, "USB PhidgetMotorControl attached\n");

	return 0;

out:
	if (mc) {
		if (mc->irq)
			usb_free_urb(mc->irq);
		if (mc->data)
			usb_buffer_free(dev, URB_INT_SIZE, mc->data, mc->data_dma);
		if (mc->dev)
			device_unregister(mc->dev);
		if (mc->dev_no >= 0)
			clear_bit(mc->dev_no, &device_no);

		kfree(mc);
	}

	return rc;
}

static void motorcontrol_disconnect(struct usb_interface *interface)
{
	struct motorcontrol *mc;

	mc = usb_get_intfdata(interface);
	usb_set_intfdata(interface, NULL);
	if (!mc)
		return;

	usb_kill_urb(mc->irq);
	usb_free_urb(mc->irq);
	usb_buffer_free(mc->udev, URB_INT_SIZE, mc->data, mc->data_dma);

	cancel_delayed_work(&mc->do_notify);

	device_remove_file(mc->dev, &dev_attr_input0);
	device_remove_file(mc->dev, &dev_attr_input1);
	device_remove_file(mc->dev, &dev_attr_input2);
	device_remove_file(mc->dev, &dev_attr_input3);

	device_remove_file(mc->dev, &dev_attr_speed0);
	device_remove_file(mc->dev, &dev_attr_speed1);

	device_remove_file(mc->dev, &dev_attr_acceleration0);
	device_remove_file(mc->dev, &dev_attr_acceleration1);

	device_remove_file(mc->dev, &dev_attr_current0);
	device_remove_file(mc->dev, &dev_attr_current1);

	device_unregister(mc->dev);

	usb_put_dev(mc->udev);
	clear_bit(mc->dev_no, &device_no);
	kfree(mc);

	dev_info(&interface->dev, "USB PhidgetMotorControl detached\n");
}

static struct usb_driver motorcontrol_driver = {
	.name = "phidgetmotorcontrol",
	.probe = motorcontrol_probe,
	.disconnect = motorcontrol_disconnect,
	.id_table = id_table
};

static int __init motorcontrol_init(void)
{
	int retval = 0;

	retval = usb_register(&motorcontrol_driver);
	if (retval)
		err("usb_register failed. Error number %d", retval);

	return retval;
}

static void __exit motorcontrol_exit(void)
{
	usb_deregister(&motorcontrol_driver);
}

module_init(motorcontrol_init);
module_exit(motorcontrol_exit);

MODULE_AUTHOR(DRIVER_AUTHOR);
MODULE_DESCRIPTION(DRIVER_DESC);
MODULE_LICENSE("GPL");
Commit	Line	Data
d5176b41 SY	1	/*
	2	* USB Phidget MotorControl driver
	3	*
	4	* Copyright (C) 2006 Sean Young <sean@mess.org>
	5	*
	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.
	10	*/
	11
	12	#include <linux/kernel.h>
	13	#include <linux/errno.h>
	14	#include <linux/init.h>
	15	#include <linux/module.h>
	16	#include <linux/usb.h>
	17
912b24c3 SY	18	#include "phidget.h"
912b24c3 SY	19
d5176b41 SY	20	#define DRIVER_AUTHOR "Sean Young <sean@mess.org>"
	21	#define DRIVER_DESC "USB PhidgetMotorControl Driver"
	22
	23	#define USB_VENDOR_ID_GLAB 0x06c2
	24	#define USB_DEVICE_ID_MOTORCONTROL 0x0058
	25
	26	#define URB_INT_SIZE 8
	27
912b24c3 SY	28	static unsigned long device_no;
912b24c3 SY	29
d5176b41 SY	30	struct motorcontrol {
	31	struct usb_device *udev;
	32	struct usb_interface *intf;
912b24c3 SY	33	struct device *dev;
912b24c3 SY	34	int dev_no;
d5176b41 SY	35	u8 inputs[4];
	36	s8 desired_speed[2];
	37	s8 speed[2];
	38	s16 _current[2];
	39	s8 acceleration[2];
	40	struct urb *irq;
	41	unsigned char *data;
	42	dma_addr_t data_dma;
	43
	44	struct work_struct do_notify;
	45	unsigned long input_events;
	46	unsigned long speed_events;
	47	unsigned long exceed_events;
	48	};
	49
	50	static struct usb_device_id id_table[] = {
	51	{ USB_DEVICE(USB_VENDOR_ID_GLAB, USB_DEVICE_ID_MOTORCONTROL) },
	52	{}
	53	};
	54	MODULE_DEVICE_TABLE(usb, id_table);
	55
	56	static int set_motor(struct motorcontrol *mc, int motor)
	57	{
	58	u8 *buffer;
	59	int speed, speed2, acceleration;
	60	int retval;
	61
	62	buffer = kzalloc(8, GFP_KERNEL);
	63	if (!buffer) {
	64	dev_err(&mc->intf->dev, "%s - out of memory\n", __FUNCTION__);
	65	return -ENOMEM;
	66	}
	67
	68	acceleration = mc->acceleration[motor] * 10;
	69	/* -127 <= speed <= 127 */
	70	speed = (mc->desired_speed[motor] * 127) / 100;
	71	/* -0x7300 <= speed2 <= 0x7300 */
	72	speed2 = (mc->desired_speed[motor] * 230 * 128) / 100;
	73
	74	buffer[0] = motor;
	75	buffer[1] = speed;
	76	buffer[2] = acceleration >> 8;
	77	buffer[3] = acceleration;
	78	buffer[4] = speed2 >> 8;
	79	buffer[5] = speed2;
	80
	81	retval = usb_control_msg(mc->udev,
	82	usb_sndctrlpipe(mc->udev, 0),
	83	0x09, 0x21, 0x0200, 0x0000, buffer, 8, 2000);
	84
	85	if (retval != 8)
	86	dev_err(&mc->intf->dev, "usb_control_msg returned %d\n",
	87	retval);
	88	kfree(buffer);
	89
	90	return retval < 0 ? retval : 0;
	91	}
	92
	93	static void motorcontrol_irq(struct urb urb, struct pt_regs regs)
	94	{
	95	struct motorcontrol *mc = urb->context;
	96	unsigned char *buffer = mc->data;
	97	int i, level;
	98	int status;
99
100	switch (urb->status) {
101	case 0: /* success */
102	break;
103	case -ECONNRESET: /* unlink */
104	case -ENOENT:
105	case -ESHUTDOWN:
106	return;
107	/* -EPIPE: should clear the halt */
108	default: /* error */
109	goto resubmit;
110	}
111
112	/* digital inputs */
113	for (i=0; i<4; i++) {
114	level = (buffer[0] >> i) & 1;
115	if (mc->inputs[i] != level) {
116	mc->inputs[i] = level;
117	set_bit(i, &mc->input_events);
118	}
119	}
120
121	/* motor speed */
122	if (buffer[2] == 0) {
123	for (i=0; i<2; i++) {
124	level = ((s8)buffer[4+i]) * 100 / 127;
125	if (mc->speed[i] != level) {
126	mc->speed[i] = level;
127	set_bit(i, &mc->speed_events);
128	}
129	}
130	} else {
131	int index = buffer[3] & 1;
132
133	level = ((s8)buffer[4] << 8) \| buffer[5];
134	level = level * 100 / 29440;
135	if (mc->speed[index] != level) {
136	mc->speed[index] = level;
137	set_bit(index, &mc->speed_events);
138	}
139
140	level = ((s8)buffer[6] << 8) \| buffer[7];
141	mc->_current[index] = level * 100 / 1572;
142	}
143
144	if (buffer[1] & 1)
145	set_bit(0, &mc->exceed_events);
146
147	if (buffer[1] & 2)
148	set_bit(1, &mc->exceed_events);
149
150	if (mc->input_events \|\| mc->exceed_events \|\| mc->speed_events)
151	schedule_work(&mc->do_notify);
152
153	resubmit:
154	status = usb_submit_urb(urb, SLAB_ATOMIC);
155	if (status)
156	dev_err(&mc->intf->dev,
157	"can't resubmit intr, %s-%s/motorcontrol0, status %d",
158	mc->udev->bus->bus_name,
159	mc->udev->devpath, status);
160	}
161
162	static void do_notify(void *data)
163	{
164	struct motorcontrol *mc = data;
165	int i;
166	char sysfs_file[8];
167
168	for (i=0; i<4; i++) {
169	if (test_and_clear_bit(i, &mc->input_events)) {
170	sprintf(sysfs_file, "input%d", i);
912b24c3	171	sysfs_notify(&mc->dev->kobj, NULL, sysfs_file);
d5176b41 SY	172	}
	173	}
	174
	175	for (i=0; i<2; i++) {
	176	if (test_and_clear_bit(i, &mc->speed_events)) {
	177	sprintf(sysfs_file, "speed%d", i);
912b24c3	178	sysfs_notify(&mc->dev->kobj, NULL, sysfs_file);
d5176b41 SY	179	}
	180	}
	181
	182	for (i=0; i<2; i++) {
	183	if (test_and_clear_bit(i, &mc->exceed_events))
	184	dev_warn(&mc->intf->dev,
	185	"motor #%d exceeds 1.5 Amp current limit\n", i);
	186	}
	187	}
	188
	189	#define show_set_speed(value) \
912b24c3 SY	190	static ssize_t set_speed##value(struct device *dev, \
	191	struct device_attribute *attr, \
	192	const char *buf, size_t count) \
d5176b41	193	{ \
912b24c3	194	struct motorcontrol *mc = dev_get_drvdata(dev); \
d5176b41 SY	195	int speed; \
	196	int retval; \
	197	\
	198	if (sscanf(buf, "%d", &speed) < 1) \
	199	return -EINVAL; \
	200	\
	201	if (speed < -100 \|\| speed > 100) \
	202	return -EINVAL; \
	203	\
	204	mc->desired_speed[value] = speed; \
	205	\
	206	retval = set_motor(mc, value); \
	207	\
	208	return retval ? retval : count; \
	209	} \
	210	\
912b24c3 SY	211	static ssize_t show_speed##value(struct device *dev, \
	212	struct device_attribute *attr, \
	213	char *buf) \
d5176b41	214	{ \
912b24c3	215	struct motorcontrol *mc = dev_get_drvdata(dev); \
d5176b41 SY	216	\
	217	return sprintf(buf, "%d\n", mc->speed[value]); \
	218	} \
	219	static DEVICE_ATTR(speed##value, S_IWUGO \| S_IRUGO, \
	220	show_speed##value, set_speed##value);
	221	show_set_speed(0);
	222	show_set_speed(1);
	223
	224	#define show_set_acceleration(value) \
	225	static ssize_t set_acceleration##value(struct device *dev, \
912b24c3 SY	226	struct device_attribute *attr, \
912b24c3 SY	227	const char *buf, size_t count) \
d5176b41	228	{ \
912b24c3	229	struct motorcontrol *mc = dev_get_drvdata(dev); \
d5176b41 SY	230	int acceleration; \
	231	int retval; \
	232	\
	233	if (sscanf(buf, "%d", &acceleration) < 1) \
	234	return -EINVAL; \
	235	\
	236	if (acceleration < 0 \|\| acceleration > 100) \
	237	return -EINVAL; \
	238	\
	239	mc->acceleration[value] = acceleration; \
	240	\
	241	retval = set_motor(mc, value); \
	242	\
	243	return retval ? retval : count; \
	244	} \
	245	\
912b24c3 SY	246	static ssize_t show_acceleration##value(struct device *dev, \
	247	struct device_attribute *attr, \
	248	char *buf) \
d5176b41	249	{ \
912b24c3	250	struct motorcontrol *mc = dev_get_drvdata(dev); \
d5176b41 SY	251	\
	252	return sprintf(buf, "%d\n", mc->acceleration[value]); \
	253	} \
	254	static DEVICE_ATTR(acceleration##value, S_IWUGO \| S_IRUGO, \
	255	show_acceleration##value, set_acceleration##value);
	256	show_set_acceleration(0);
	257	show_set_acceleration(1);
	258
	259	#define show_current(value) \
912b24c3 SY	260	static ssize_t show_current##value(struct device *dev, \
	261	struct device_attribute *attr, \
	262	char *buf) \
d5176b41	263	{ \
912b24c3	264	struct motorcontrol *mc = dev_get_drvdata(dev); \
d5176b41 SY	265	\
	266	return sprintf(buf, "%dmA\n", (int)mc->_current[value]); \
	267	} \
	268	static DEVICE_ATTR(current##value, S_IRUGO, show_current##value, NULL);
	269
	270	show_current(0);
	271	show_current(1);
	272
	273	#define show_input(value) \
912b24c3 SY	274	static ssize_t show_input##value(struct device *dev, \
	275	struct device_attribute *attr, \
	276	char *buf) \
d5176b41	277	{ \
912b24c3	278	struct motorcontrol *mc = dev_get_drvdata(dev); \
d5176b41 SY	279	\
	280	return sprintf(buf, "%d\n", (int)mc->inputs[value]); \
	281	} \
	282	static DEVICE_ATTR(input##value, S_IRUGO, show_input##value, NULL);
	283
	284	show_input(0);
	285	show_input(1);
	286	show_input(2);
	287	show_input(3);
	288
	289	static int motorcontrol_probe(struct usb_interface intf, const struct usb_device_id id)
	290	{
	291	struct usb_device *dev = interface_to_usbdev(intf);
	292	struct usb_host_interface *interface;
	293	struct usb_endpoint_descriptor *endpoint;
	294	struct motorcontrol *mc;
	295	int pipe, maxp, rc = -ENOMEM;
912b24c3	296	int bit, value;
d5176b41 SY	297
	298	interface = intf->cur_altsetting;
	299	if (interface->desc.bNumEndpoints != 1)
	300	return -ENODEV;
	301
	302	endpoint = &interface->endpoint[0].desc;
	303	if (!(endpoint->bEndpointAddress & 0x80))
	304	return -ENODEV;
	305
	306	/*
	307	* bmAttributes
	308	*/
	309	pipe = usb_rcvintpipe(dev, endpoint->bEndpointAddress);
	310	maxp = usb_maxpacket(dev, pipe, usb_pipeout(pipe));
	311
	312	mc = kzalloc(sizeof(*mc), GFP_KERNEL);
	313	if (!mc)
	314	goto out;
	315
912b24c3	316	mc->dev_no = -1;
d5176b41 SY	317	mc->data = usb_buffer_alloc(dev, URB_INT_SIZE, SLAB_ATOMIC, &mc->data_dma);
	318	if (!mc->data)
	319	goto out;
	320
	321	mc->irq = usb_alloc_urb(0, GFP_KERNEL);
	322	if (!mc->irq)
	323	goto out;
	324
	325	mc->udev = usb_get_dev(dev);
	326	mc->intf = intf;
	327	mc->acceleration[0] = mc->acceleration[1] = 10;
	328	INIT_WORK(&mc->do_notify, do_notify, mc);
	329	usb_fill_int_urb(mc->irq, mc->udev, pipe, mc->data,
	330	maxp > URB_INT_SIZE ? URB_INT_SIZE : maxp,
	331	motorcontrol_irq, mc, endpoint->bInterval);
	332	mc->irq->transfer_dma = mc->data_dma;
	333	mc->irq->transfer_flags \|= URB_NO_TRANSFER_DMA_MAP;
	334
	335	usb_set_intfdata(intf, mc);
	336
912b24c3 SY	337	do {
	338	bit = find_first_zero_bit(&device_no, sizeof(device_no));
	339	value = test_and_set_bit(bit, &device_no);
	340	} while(value);
	341	mc->dev_no = bit;
	342
	343	mc->dev = device_create(phidget_class, &mc->udev->dev, 0,
	344	"motorcontrol%d", mc->dev_no);
	345	if (IS_ERR(mc->dev)) {
	346	rc = PTR_ERR(mc->dev);
	347	mc->dev = NULL;
	348	goto out;
	349	}
	350
	351	dev_set_drvdata(mc->dev, mc);
	352
d5176b41 SY	353	if (usb_submit_urb(mc->irq, GFP_KERNEL)) {
	354	rc = -EIO;
	355	goto out;
	356	}
	357
912b24c3 SY	358	device_create_file(mc->dev, &dev_attr_input0);
	359	device_create_file(mc->dev, &dev_attr_input1);
	360	device_create_file(mc->dev, &dev_attr_input2);
	361	device_create_file(mc->dev, &dev_attr_input3);
d5176b41	362
912b24c3 SY	363	device_create_file(mc->dev, &dev_attr_speed0);
912b24c3 SY	364	device_create_file(mc->dev, &dev_attr_speed1);
d5176b41	365
912b24c3 SY	366	device_create_file(mc->dev, &dev_attr_acceleration0);
912b24c3 SY	367	device_create_file(mc->dev, &dev_attr_acceleration1);
d5176b41	368
912b24c3 SY	369	device_create_file(mc->dev, &dev_attr_current0);
912b24c3 SY	370	device_create_file(mc->dev, &dev_attr_current1);
d5176b41	371
912b24c3	372	dev_info(&intf->dev, "USB PhidgetMotorControl attached\n");
d5176b41 SY	373
	374	return 0;
	375
	376	out:
	377	if (mc) {
	378	if (mc->irq)
	379	usb_free_urb(mc->irq);
	380	if (mc->data)
	381	usb_buffer_free(dev, URB_INT_SIZE, mc->data, mc->data_dma);
912b24c3 SY	382	if (mc->dev)
	383	device_unregister(mc->dev);
	384	if (mc->dev_no >= 0)
	385	clear_bit(mc->dev_no, &device_no);
	386
d5176b41 SY	387	kfree(mc);
	388	}
	389
	390	return rc;
	391	}
	392
	393	static void motorcontrol_disconnect(struct usb_interface *interface)
	394	{
	395	struct motorcontrol *mc;
	396
	397	mc = usb_get_intfdata(interface);
	398	usb_set_intfdata(interface, NULL);
	399	if (!mc)
	400	return;
	401
	402	usb_kill_urb(mc->irq);
	403	usb_free_urb(mc->irq);
	404	usb_buffer_free(mc->udev, URB_INT_SIZE, mc->data, mc->data_dma);
	405
	406	cancel_delayed_work(&mc->do_notify);
	407
912b24c3 SY	408	device_remove_file(mc->dev, &dev_attr_input0);
	409	device_remove_file(mc->dev, &dev_attr_input1);
	410	device_remove_file(mc->dev, &dev_attr_input2);
	411	device_remove_file(mc->dev, &dev_attr_input3);
d5176b41	412
912b24c3 SY	413	device_remove_file(mc->dev, &dev_attr_speed0);
912b24c3 SY	414	device_remove_file(mc->dev, &dev_attr_speed1);
d5176b41	415
912b24c3 SY	416	device_remove_file(mc->dev, &dev_attr_acceleration0);
912b24c3 SY	417	device_remove_file(mc->dev, &dev_attr_acceleration1);
d5176b41	418
912b24c3 SY	419	device_remove_file(mc->dev, &dev_attr_current0);
912b24c3 SY	420	device_remove_file(mc->dev, &dev_attr_current1);
d5176b41	421
912b24c3	422	device_unregister(mc->dev);
d5176b41 SY	423
d5176b41 SY	424	usb_put_dev(mc->udev);
912b24c3	425	clear_bit(mc->dev_no, &device_no);
d5176b41	426	kfree(mc);
912b24c3 SY	427
912b24c3 SY	428	dev_info(&interface->dev, "USB PhidgetMotorControl detached\n");
d5176b41 SY	429	}
	430
	431	static struct usb_driver motorcontrol_driver = {
	432	.name = "phidgetmotorcontrol",
	433	.probe = motorcontrol_probe,
	434	.disconnect = motorcontrol_disconnect,
	435	.id_table = id_table
	436	};
	437
	438	static int __init motorcontrol_init(void)
	439	{
	440	int retval = 0;
	441
	442	retval = usb_register(&motorcontrol_driver);
	443	if (retval)
	444	err("usb_register failed. Error number %d", retval);
	445
	446	return retval;
	447	}
	448
	449	static void __exit motorcontrol_exit(void)
	450	{
	451	usb_deregister(&motorcontrol_driver);
	452	}
	453
	454	module_init(motorcontrol_init);
	455	module_exit(motorcontrol_exit);
	456
	457	MODULE_AUTHOR(DRIVER_AUTHOR);
	458	MODULE_DESCRIPTION(DRIVER_DESC);
	459	MODULE_LICENSE("GPL");