86 lines
2 KiB
C
86 lines
2 KiB
C
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/*
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* Xsens MT USB driver
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*
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* Copyright (C) 2013 Xsens <info@xsens.com>
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*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License version
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* 2 as published by the Free Software Foundation.
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*/
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#include <linux/kernel.h>
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#include <linux/tty.h>
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#include <linux/module.h>
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#include <linux/usb.h>
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#include <linux/usb/serial.h>
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#include <linux/uaccess.h>
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#define XSENS_VID 0x2639
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#define MTi_10_IMU_PID 0x0001
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#define MTi_20_VRU_PID 0x0002
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#define MTi_30_AHRS_PID 0x0003
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#define MTi_100_IMU_PID 0x0011
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#define MTi_200_VRU_PID 0x0012
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#define MTi_300_AHRS_PID 0x0013
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#define MTi_G_700_GPS_INS_PID 0x0017
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static const struct usb_device_id id_table[] = {
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{ USB_DEVICE(XSENS_VID, MTi_10_IMU_PID) },
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{ USB_DEVICE(XSENS_VID, MTi_20_VRU_PID) },
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{ USB_DEVICE(XSENS_VID, MTi_30_AHRS_PID) },
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{ USB_DEVICE(XSENS_VID, MTi_100_IMU_PID) },
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{ USB_DEVICE(XSENS_VID, MTi_200_VRU_PID) },
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{ USB_DEVICE(XSENS_VID, MTi_300_AHRS_PID) },
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{ USB_DEVICE(XSENS_VID, MTi_G_700_GPS_INS_PID) },
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{ },
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};
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MODULE_DEVICE_TABLE(usb, id_table);
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static int has_required_endpoints(const struct usb_host_interface *interface)
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{
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__u8 i;
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int has_bulk_in = 0;
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int has_bulk_out = 0;
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for (i = 0; i < interface->desc.bNumEndpoints; ++i) {
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if (usb_endpoint_is_bulk_in(&interface->endpoint[i].desc))
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has_bulk_in = 1;
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else if (usb_endpoint_is_bulk_out(&interface->endpoint[i].desc))
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has_bulk_out = 1;
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}
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return has_bulk_in && has_bulk_out;
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}
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static int xsens_mt_probe(struct usb_serial *serial,
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const struct usb_device_id *id)
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{
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if (!has_required_endpoints(serial->interface->cur_altsetting))
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return -ENODEV;
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return 0;
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}
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static struct usb_serial_driver xsens_mt_device = {
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.driver = {
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.owner = THIS_MODULE,
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.name = "xsens_mt",
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},
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.id_table = id_table,
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.num_ports = 1,
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.probe = xsens_mt_probe,
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};
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static struct usb_serial_driver * const serial_drivers[] = {
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&xsens_mt_device, NULL
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};
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module_usb_serial_driver(serial_drivers, id_table);
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MODULE_LICENSE("GPL");
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