Hi Greg, This driver helps us to control the OWI/Maplin USB Robotic Arm device. I have tested this driver in my x86 Laptop and it works as expected (Some clean-ups and modifications are in the pipeline, though). After review process and the life in staging,I hope this driver will find it's place in "drivers/usb/misc/" :) The userspace utility program is available from the below URL: https://github.com/maxinbjohn/robotic_arm_driver OWI/Maplin USB Robotic arm is available from: http://www.maplin.co.uk/robotic-arm-kit-with-usb-pc-interface-266257 http://www.owirobots.com/cart/html/owi-535pc-robotic-arm-kit-with-usb-pc-interface-assembled.html Please let me know your comments. Signed-off-by: Maxin B. John <maxin.john@xxxxxxxxx> --- diff --git a/drivers/staging/Kconfig b/drivers/staging/Kconfig index d805eef..a1eefa9 100644 --- a/drivers/staging/Kconfig +++ b/drivers/staging/Kconfig @@ -144,4 +144,6 @@ source "drivers/staging/imx-drm/Kconfig" source "drivers/staging/dgrp/Kconfig" +source "drivers/staging/usb_robotic_arm/Kconfig" + endif # STAGING diff --git a/drivers/staging/Makefile b/drivers/staging/Makefile index 76e2ebd..fd9b5f3 100644 --- a/drivers/staging/Makefile +++ b/drivers/staging/Makefile @@ -64,3 +64,4 @@ obj-$(CONFIG_NET_VENDOR_SILICOM) += silicom/ obj-$(CONFIG_CED1401) += ced1401/ obj-$(CONFIG_DRM_IMX) += imx-drm/ obj-$(CONFIG_DGRP) += dgrp/ +obj-$(CONFIG_USB_ROBOTIC_ARM) += usb_robotic_arm/ diff --git a/drivers/staging/usb_robotic_arm/Kconfig b/drivers/staging/usb_robotic_arm/Kconfig new file mode 100644 index 0000000..7ac4547 --- /dev/null +++ b/drivers/staging/usb_robotic_arm/Kconfig @@ -0,0 +1,15 @@ +config USB_ROBOTIC_ARM + tristate "OWI/MAPLIN USB Robotic Arm support" + depends on USB + default N + ---help--- + This enables us to control the OWI/Maplin Robotic Arm + device attached to the USB port. + + For more details, and to get the userspace utility + programs, please see https://github.com/maxinbjohn/robotic_arm_driver + + To compile this as a module, choose M here: the module will + be called robotic_arm. + + If unsure, say N. diff --git a/drivers/staging/usb_robotic_arm/Makefile b/drivers/staging/usb_robotic_arm/Makefile new file mode 100644 index 0000000..9509413 --- /dev/null +++ b/drivers/staging/usb_robotic_arm/Makefile @@ -0,0 +1 @@ +obj-$(CONFIG_USB_ROBOTIC_ARM) += robotic_arm.o diff --git a/drivers/staging/usb_robotic_arm/README b/drivers/staging/usb_robotic_arm/README new file mode 100644 index 0000000..f7998ef --- /dev/null +++ b/drivers/staging/usb_robotic_arm/README @@ -0,0 +1,59 @@ + +The USB_ROBOTIC_ARM is a proof-of-concept driver for the OWI/Maplin USB +Robotic Arm. I created it for fun. So, don't expect much from it. + +INSTALLATION: + +Select the 'USB ROBOTIC ARM' and build the kernel. + +If we build it as module, locate the robotic_arm.ko + +As 'root', insert the module: +# insmod robotic_arm.ko +# dmesg +[ 8808.461441] usbcore: registered new interface driver robotic_arm + +Connect the Robotic Arm to the PC. + +# dmesg +... +[ 8718.729311] robotic_arm 5-1:1.0: USB ROBOTIC ARM now attached + +# cd /sys/bus/usb/drivers/robotic_arm/ +In my case, +# ls +5-1:1.0 bind module new_id remove_id uevent unbind + +# cd 5-1:1.0 +# ls +bAlternateSetting bInterfaceNumber bNumEndpoints gripmotor motor2 power uevent +basemotor bInterfaceProtocol driver led motor3 subsystem +bInterfaceClass bInterfaceSubClass ep_81 modalias motor4 supports_autosuspend + +TESTING: + +# echo 1 > basemotor +(This will rotate the base clockwise) + +# echo 2 > basemotor +(This will rotate the base anti-clockwise) + +# echo 0 > basemotor +(This will stop the base motor if it is on) + +# echo 1 > led +(This will switch on the front side LED) + +# echo 1 > motor3 +(This will switch on motor3) + +HARDWARE AVAILABILITY: + +OWI/Maplin USB Robotic arm is available from: +http://www.maplin.co.uk/robotic-arm-kit-with-usb-pc-interface-266257 +http://www.owirobots.com/cart/html/owi-535pc-robotic-arm-kit-with-usb-pc-interface-assembled.html + +REFERENCES: + +Reverse Engineering details of Robotic Arm's Protocol is available here: +http://notbrainsurgery.livejournal.com/38622.html diff --git a/drivers/staging/usb_robotic_arm/TODO b/drivers/staging/usb_robotic_arm/TODO new file mode 100644 index 0000000..6c0fd7e --- /dev/null +++ b/drivers/staging/usb_robotic_arm/TODO @@ -0,0 +1,8 @@ +TODO: + - provide independent control for motors in the hand + - various code clean-ups + - test on various platforms + - send to lkml for review + +Please send patches to Greg Kroah-Hartman <gregkh@xxxxxxxxxxxxxxxxxxx> +and Cc: Maxin B. John <maxin.john@xxxxxxxxx> diff --git a/drivers/staging/usb_robotic_arm/robotic_arm.c b/drivers/staging/usb_robotic_arm/robotic_arm.c new file mode 100644 index 0000000..dbde911 --- /dev/null +++ b/drivers/staging/usb_robotic_arm/robotic_arm.c @@ -0,0 +1,278 @@ +/* + * USB ROBOTIC ARM driver + * robotic_arm - driver for Robotic ARM with USB interface + * from Maplin Electronics.This is an experimental driver. + * Use at your own risk. + * + * Copyright (C) 2012 Maxin B. John (maxin.john@xxxxxxxxx) + * + * 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, version 2. + * + * Derived from USB LED driver + * Copyright (c) 2001 Greg Kroah-Hartman (greg@xxxxxxxxx) + */ + +#define DEBUG 1 + +#include <linux/kernel.h> +#include <linux/errno.h> +#include <linux/init.h> +#include <linux/slab.h> +#include <linux/module.h> +#include <linux/usb.h> + +/* Version Information */ +#define DRIVER_VERSION "v0.1" +#define DRIVER_AUTHOR "Maxin B. John, maxin.john@xxxxxxxxx" +#define DRIVER_DESC "USB ROBOTIC ARM Driver" + +#define VENDOR_ID 0x1267 +#define PRODUCT_ID 0x0000 + +/* table of devices that work with this driver */ +static struct usb_device_id id_table[] = { + {.idVendor = 0x1267, .match_flags = USB_DEVICE_ID_MATCH_VENDOR,}, + {}, +}; + +MODULE_DEVICE_TABLE(usb, id_table); + +struct usb_robotic_arm { + struct usb_device *udev; + unsigned char led; + unsigned char gripmotor; + unsigned char motor2; + unsigned char motor3; + unsigned char motor4; + unsigned char basemotor; +}; + +static void update_robotic_arm(struct usb_robotic_arm *robotic_arm) +{ + int retval = 0; + u8 cmd[3]; + + cmd[0] = 0; + cmd[1] = 0; + cmd[2] = 0; + + /* + * Byte 2 controls LED light inside the grip. + * If Bit 0 is 1, LED on, otherwise LED off + * + */ + + if (robotic_arm->led) + cmd[2] = 1; + + /* + * Byte 1 controls the Base Motor + * If value is 1, Base Motor rotates clockwise + * If value is 2, Base Motor rotates anti-clockwise + * Otherwise, Base Motor is off + * + */ + + if (robotic_arm->basemotor == 1) + cmd[1] = 1; + + else if (robotic_arm->basemotor == 2) + cmd[1] = 2; + else + cmd[1] = 0; + + /* + * Byte 0 controls the Grip + * If value is 1, Grip tightens + * If values is 2, Grip Looses + * + */ + + if (robotic_arm->gripmotor == 1) + cmd[0] = 1; + else if (robotic_arm->gripmotor == 2) + cmd[0] = 2; + /* + * Byte 0 controls the Motor 2 + * If value is 1, Motor 2 (wrist) moves up + * If value is 2, Motor 2 (wrist) moves down + * + */ + + else if (robotic_arm->motor2 == 1) + cmd[0] = 4; + else if (robotic_arm->motor2 == 2) + cmd[0] = 8; + + /* + * Byte 0 controls the Motor 3 + * If value is 1, Motor 3 (elbow) moves up + * If value is 2, Motor 3 (elbow) moves down + * + */ + + else if (robotic_arm->motor3 == 1) + cmd[0] = 16; + else if (robotic_arm->motor3 == 2) + cmd[0] = 32; + + /* + * Byte 0 controls the Motor 4 + * If value is 1, Motor 4 (shoulder) moves up + * If value is 2, Motor 4 (shoulder) moves down + * + */ + + else if (robotic_arm->motor4 == 1) + cmd[0] = 64; + else if (robotic_arm->motor4 == 2) + cmd[0] = 128; + else + cmd[0] = 0; + + retval = usb_control_msg(robotic_arm->udev, + usb_sndctrlpipe(robotic_arm->udev, 0), + 6, 0x40, 0x100, 0, cmd, 3, 0); + + + if (retval) + dev_dbg(&robotic_arm->udev->dev, "retval = %d\n", retval); + +} + +#define show_set(value) \ +static ssize_t show_##value(struct device *dev, struct device_attribute *attr,\ + char *buf) \ +{ \ + struct usb_interface *intf = to_usb_interface(dev); \ + struct usb_robotic_arm *robotic_arm = usb_get_intfdata(intf); \ + \ + return sprintf(buf, "%d\n", robotic_arm->value); \ +} \ +static ssize_t set_##value(struct device *dev, struct device_attribute *attr,\ + const char *buf, size_t count) \ +{ \ + struct usb_interface *intf = to_usb_interface(dev); \ + struct usb_robotic_arm *robotic_arm = usb_get_intfdata(intf); \ + int ret = -ENXIO; \ + unsigned long val; \ + \ + ret = kstrtoul(buf, 0, &val); \ + if (ret) \ + return ret; \ + robotic_arm->value = val; \ + update_robotic_arm(robotic_arm); \ + return count; \ +} \ +static DEVICE_ATTR(value, S_IRUGO | S_IWUSR, show_##value, set_##value); +show_set(led); +show_set(gripmotor); +show_set(motor2); +show_set(motor3); +show_set(motor4); +show_set(basemotor); + +static int robotic_arm_probe(struct usb_interface *interface, + const struct usb_device_id *id) +{ + struct usb_device *udev; + struct usb_robotic_arm *dev; + int retval = -ENOMEM; + + udev = interface_to_usbdev(interface); + dev = kzalloc(sizeof(struct usb_robotic_arm), GFP_KERNEL); + if (dev == NULL) { + dev_err(&interface->dev, "out of memory\n"); + goto error_mem; + } + + dev->udev = usb_get_dev(udev); + + usb_set_intfdata(interface, dev); + + retval = device_create_file(&interface->dev, &dev_attr_led); + if (retval) + goto error; + retval = device_create_file(&interface->dev, &dev_attr_gripmotor); + if (retval) + goto error; + retval = device_create_file(&interface->dev, &dev_attr_motor2); + if (retval) + goto error; + retval = device_create_file(&interface->dev, &dev_attr_motor3); + if (retval) + goto error; + retval = device_create_file(&interface->dev, &dev_attr_motor4); + if (retval) + goto error; + retval = device_create_file(&interface->dev, &dev_attr_basemotor); + if (retval) + goto error; + + dev_info(&interface->dev, "USB ROBOTIC ARM now attached\n"); + return 0; + +error: + device_remove_file(&interface->dev, &dev_attr_led); + device_remove_file(&interface->dev, &dev_attr_gripmotor); + device_remove_file(&interface->dev, &dev_attr_motor2); + device_remove_file(&interface->dev, &dev_attr_motor3); + device_remove_file(&interface->dev, &dev_attr_motor4); + device_remove_file(&interface->dev, &dev_attr_basemotor); + + usb_set_intfdata(interface, NULL); + usb_put_dev(dev->udev); + kfree(dev); + +error_mem: + return retval; +} + +static void robotic_arm_disconnect(struct usb_interface *interface) +{ + struct usb_robotic_arm *dev = NULL; + + dev = usb_get_intfdata(interface); + + device_remove_file(&interface->dev, &dev_attr_led); + device_remove_file(&interface->dev, &dev_attr_gripmotor); + device_remove_file(&interface->dev, &dev_attr_motor2); + device_remove_file(&interface->dev, &dev_attr_motor3); + device_remove_file(&interface->dev, &dev_attr_motor4); + device_remove_file(&interface->dev, &dev_attr_basemotor); + + /* first remove the files, then set the pointer to NULL */ + usb_set_intfdata(interface, NULL); + + usb_put_dev(dev->udev); + + kfree(dev); + + dev_info(&interface->dev, "USB ROBOTIC ARM now disconnected\n"); +} + +static struct usb_driver robotic_arm_driver = { + .name = "robotic_arm", + .probe = robotic_arm_probe, + .disconnect = robotic_arm_disconnect, + .id_table = id_table, +}; + +static int __init usb_robotic_arm_init(void) +{ + return usb_register(&robotic_arm_driver); +} + +static void __exit usb_robotic_arm_exit(void) +{ + usb_deregister(&robotic_arm_driver); +} + +module_init(usb_robotic_arm_init); +module_exit(usb_robotic_arm_exit); + +MODULE_AUTHOR(DRIVER_AUTHOR); +MODULE_DESCRIPTION(DRIVER_DESC); +MODULE_LICENSE("GPL"); _______________________________________________ devel mailing list devel@xxxxxxxxxxxxxxxxxxxxxx http://driverdev.linuxdriverproject.org/mailman/listinfo/devel
