kernel/2.6.29.6-aldebaran-rt/drivers/input/joystick/spaceorb.c

   1 /*
   2  *  Copyright (c) 1999-2001 Vojtech Pavlik
   3  *
   4  *  Based on the work of:
   5  *      David Thompson
   6  */
   7
   8 /*
   9  * SpaceTec SpaceOrb 360 and Avenger 6dof controller driver for Linux
  10  */
  11
  12 /*
  13  * This program is free software; you can redistribute it and/or modify
  14  * it under the terms of the GNU General Public License as published by
  15  * the Free Software Foundation; either version 2 of the License, or
  16  * (at your option) any later version.
  17  *
  18  * This program is distributed in the hope that it will be useful,
  19  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  20  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  21  * GNU General Public License for more details.
  22  *
  23  * You should have received a copy of the GNU General Public License
  24  * along with this program; if not, write to the Free Software
  25  * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  26  *
  27  *  Should you need to contact me, the author, you can do so either by
  28  * e-mail - mail your message to <vojtech@ucw.cz>, or by paper mail:
  29  * Vojtech Pavlik, Simunkova 1594, Prague 8, 182 00 Czech Republic
  30  */
  31
  32 #include <linux/kernel.h>
  33 #include <linux/slab.h>
  34 #include <linux/module.h>
  35 #include <linux/init.h>
  36 #include <linux/input.h>
  37 #include <linux/serio.h>
  38
  39 #define DRIVER_DESC     "SpaceTec SpaceOrb 360 and Avenger 6dof controller driver"
  40
  41 MODULE_AUTHOR("Vojtech Pavlik <vojtech@ucw.cz>");
  42 MODULE_DESCRIPTION(DRIVER_DESC);
  43 MODULE_LICENSE("GPL");
  44
  45 /*
  46  * Constants.
  47  */
  48
  49 #define SPACEORB_MAX_LENGTH     64
  50
  51 static int spaceorb_buttons[] = { BTN_TL, BTN_TR, BTN_Y, BTN_X, BTN_B, BTN_A };
  52 static int spaceorb_axes[] = { ABS_X, ABS_Y, ABS_Z, ABS_RX, ABS_RY, ABS_RZ };
  53
  54 /*
  55  * Per-Orb data.
  56  */
  57
  58 struct spaceorb {
  59         struct input_dev *dev;
  60         int idx;
  61         unsigned char data[SPACEORB_MAX_LENGTH];
  62         char phys[32];
  63 };
  64
  65 static unsigned char spaceorb_xor[] = "SpaceWare";
  66
  67 static unsigned char *spaceorb_errors[] = { "EEPROM storing 0 failed", "Receive queue overflow", "Transmit queue timeout",
  68                 "Bad packet", "Power brown-out", "EEPROM checksum error", "Hardware fault" };
  69
  70 /*
  71  * spaceorb_process_packet() decodes packets the driver receives from the
  72  * SpaceOrb.
  73  */
  74
  75 static void spaceorb_process_packet(struct spaceorb *spaceorb)
  76 {
  77         struct input_dev *dev = spaceorb->dev;
  78         unsigned char *data = spaceorb->data;
  79         unsigned char c = 0;
  80         int axes[6];
  81         int i;
  82
  83         if (spaceorb->idx < 2) return;
  84         for (i = 0; i < spaceorb->idx; i++) c ^= data[i];
  85         if (c) return;
  86
  87         switch (data[0]) {
  88
  89                 case 'R':                               /* Reset packet */
  90                         spaceorb->data[spaceorb->idx - 1] = 0;
  91                         for (i = 1; i < spaceorb->idx && spaceorb->data[i] == ' '; i++);
  92                         printk(KERN_INFO "input: %s [%s] is %s\n",
  93                                  dev->name, spaceorb->data + i, spaceorb->phys);
  94                         break;
  95
  96                 case 'D':                               /* Ball + button data */
  97                         if (spaceorb->idx != 12) return;
  98                         for (i = 0; i < 9; i++) spaceorb->data[i+2] ^= spaceorb_xor[i];
  99                         axes[0] = ( data[2]      << 3) | (data[ 3] >> 4);
 100                         axes[1] = ((data[3] & 0x0f) << 6) | (data[ 4] >> 1);
 101                         axes[2] = ((data[4] & 0x01) << 9) | (data[ 5] << 2) | (data[4] >> 5);
 102                         axes[3] = ((data[6] & 0x1f) << 5) | (data[ 7] >> 2);
 103                         axes[4] = ((data[7] & 0x03) << 8) | (data[ 8] << 1) | (data[7] >> 6);
 104                         axes[5] = ((data[9] & 0x3f) << 4) | (data[10] >> 3);
 105                         for (i = 0; i < 6; i++)
 106                                 input_report_abs(dev, spaceorb_axes[i], axes[i] - ((axes[i] & 0x200) ? 1024 : 0));
 107                         for (i = 0; i < 6; i++)
 108                                 input_report_key(dev, spaceorb_buttons[i], (data[1] >> i) & 1);
 109                         break;
 110
 111                 case 'K':                               /* Button data */
 112                         if (spaceorb->idx != 5) return;
 113                         for (i = 0; i < 6; i++)
 114                                 input_report_key(dev, spaceorb_buttons[i], (data[2] >> i) & 1);
 115
 116                         break;
 117
 118                 case 'E':                               /* Error packet */
 119                         if (spaceorb->idx != 4) return;
 120                         printk(KERN_ERR "spaceorb: Device error. [ ");
 121                         for (i = 0; i < 7; i++) if (data[1] & (1 << i)) printk("%s ", spaceorb_errors[i]);
 122                         printk("]\n");
 123                         break;
 124         }
 125
 126         input_sync(dev);
 127 }
 128
 129 static irqreturn_t spaceorb_interrupt(struct serio *serio,
 130                 unsigned char data, unsigned int flags)
 131 {
 132         struct spaceorb* spaceorb = serio_get_drvdata(serio);
 133
 134         if (~data & 0x80) {
 135                 if (spaceorb->idx) spaceorb_process_packet(spaceorb);
 136                 spaceorb->idx = 0;
 137         }
 138         if (spaceorb->idx < SPACEORB_MAX_LENGTH)
 139                 spaceorb->data[spaceorb->idx++] = data & 0x7f;
 140         return IRQ_HANDLED;
 141 }
 142
 143 /*
 144  * spaceorb_disconnect() is the opposite of spaceorb_connect()
 145  */
 146
 147 static void spaceorb_disconnect(struct serio *serio)
 148 {
 149         struct spaceorb* spaceorb = serio_get_drvdata(serio);
 150
 151         serio_close(serio);
 152         serio_set_drvdata(serio, NULL);
 153         input_unregister_device(spaceorb->dev);
 154         kfree(spaceorb);
 155 }
 156
 157 /*
 158  * spaceorb_connect() is the routine that is called when someone adds a
 159  * new serio device that supports SpaceOrb/Avenger protocol and registers
 160  * it as an input device.
 161  */
 162
 163 static int spaceorb_connect(struct serio *serio, struct serio_driver *drv)
 164 {
 165         struct spaceorb *spaceorb;
 166         struct input_dev *input_dev;
 167         int err = -ENOMEM;
 168         int i;
 169
 170         spaceorb = kzalloc(sizeof(struct spaceorb), GFP_KERNEL);
 171         input_dev = input_allocate_device();
 172         if (!spaceorb || !input_dev)
 173                 goto fail1;
 174
 175         spaceorb->dev = input_dev;
 176         snprintf(spaceorb->phys, sizeof(spaceorb->phys), "%s/input0", serio->phys);
 177
 178         input_dev->name = "SpaceTec SpaceOrb 360 / Avenger";
 179         input_dev->phys = spaceorb->phys;
 180         input_dev->id.bustype = BUS_RS232;
 181         input_dev->id.vendor = SERIO_SPACEORB;
 182         input_dev->id.product = 0x0001;
 183         input_dev->id.version = 0x0100;
 184         input_dev->dev.parent = &serio->dev;
 185
 186         input_dev->evbit[0] = BIT_MASK(EV_KEY) | BIT_MASK(EV_ABS);
 187
 188         for (i = 0; i < 6; i++)
 189                 set_bit(spaceorb_buttons[i], input_dev->keybit);
 190
 191         for (i = 0; i < 6; i++)
 192                 input_set_abs_params(input_dev, spaceorb_axes[i], -508, 508, 0, 0);
 193
 194         serio_set_drvdata(serio, spaceorb);
 195
 196         err = serio_open(serio, drv);
 197         if (err)
 198                 goto fail2;
 199
 200         err = input_register_device(spaceorb->dev);
 201         if (err)
 202                 goto fail3;
 203
 204         return 0;
 205
 206  fail3: serio_close(serio);
 207  fail2: serio_set_drvdata(serio, NULL);
 208  fail1: input_free_device(input_dev);
 209         kfree(spaceorb);
 210         return err;
 211 }
 212
 213 /*
 214  * The serio driver structure.
 215  */
 216
 217 static struct serio_device_id spaceorb_serio_ids[] = {
 218         {
 219                 .type   = SERIO_RS232,
 220                 .proto  = SERIO_SPACEORB,
 221                 .id     = SERIO_ANY,
 222                 .extra  = SERIO_ANY,
 223         },
 224         { 0 }
 225 };
 226
 227 MODULE_DEVICE_TABLE(serio, spaceorb_serio_ids);
 228
 229 static struct serio_driver spaceorb_drv = {
 230         .driver         = {
 231                 .name   = "spaceorb",
 232         },
 233         .description    = DRIVER_DESC,
 234         .id_table       = spaceorb_serio_ids,
 235         .interrupt      = spaceorb_interrupt,
 236         .connect        = spaceorb_connect,
 237         .disconnect     = spaceorb_disconnect,
 238 };
 239
 240 /*
 241  * The functions for inserting/removing us as a module.
 242  */
 243
 244 static int __init spaceorb_init(void)
 245 {
 246         return serio_register_driver(&spaceorb_drv);
 247 }
 248
 249 static void __exit spaceorb_exit(void)
 250 {
 251         serio_unregister_driver(&spaceorb_drv);
 252 }
 253
 254 module_init(spaceorb_init);
 255 module_exit(spaceorb_exit);