tjh.dev
Linux kernel mirror (for testing)
git.kernel.org/pub/scm/linux/kernel/git/torvalds/linux.git
kernel
os
linux
1/*
2 * Xsens MT USB driver
3 *
4 * Copyright (C) 2013 Xsens <info@xsens.com>
5 *
6 * This program is free software; you can redistribute it and/or
7 * modify it under the terms of the GNU General Public License version
8 * 2 as published by the Free Software Foundation.
9 */
10
11#include <linux/kernel.h>
12#include <linux/init.h>
13#include <linux/tty.h>
14#include <linux/module.h>
15#include <linux/usb.h>
16#include <linux/usb/serial.h>
17#include <linux/uaccess.h>
18
19#define XSENS_VID 0x2639
20
21#define MTi_10_IMU_PID 0x0001
22#define MTi_20_VRU_PID 0x0002
23#define MTi_30_AHRS_PID 0x0003
24
25#define MTi_100_IMU_PID 0x0011
26#define MTi_200_VRU_PID 0x0012
27#define MTi_300_AHRS_PID 0x0013
28
29#define MTi_G_700_GPS_INS_PID 0x0017
30
31static const struct usb_device_id id_table[] = {
32 { USB_DEVICE(XSENS_VID, MTi_10_IMU_PID) },
33 { USB_DEVICE(XSENS_VID, MTi_20_VRU_PID) },
34 { USB_DEVICE(XSENS_VID, MTi_30_AHRS_PID) },
35
36 { USB_DEVICE(XSENS_VID, MTi_100_IMU_PID) },
37 { USB_DEVICE(XSENS_VID, MTi_200_VRU_PID) },
38 { USB_DEVICE(XSENS_VID, MTi_300_AHRS_PID) },
39
40 { USB_DEVICE(XSENS_VID, MTi_G_700_GPS_INS_PID) },
41 { },
42};
43MODULE_DEVICE_TABLE(usb, id_table);
44
45static int has_required_endpoints(const struct usb_host_interface *interface)
46{
47 __u8 i;
48 int has_bulk_in = 0;
49 int has_bulk_out = 0;
50
51 for (i = 0; i < interface->desc.bNumEndpoints; ++i) {
52 if (usb_endpoint_is_bulk_in(&interface->endpoint[i].desc))
53 has_bulk_in = 1;
54 else if (usb_endpoint_is_bulk_out(&interface->endpoint[i].desc))
55 has_bulk_out = 1;
56 }
57
58 return has_bulk_in && has_bulk_out;
59}
60
61static int xsens_mt_probe(struct usb_serial *serial,
62 const struct usb_device_id *id)
63{
64 if (!has_required_endpoints(serial->interface->cur_altsetting))
65 return -ENODEV;
66 return 0;
67}
68
69static struct usb_serial_driver xsens_mt_device = {
70 .driver = {
71 .owner = THIS_MODULE,
72 .name = "xsens_mt",
73 },
74 .id_table = id_table,
75 .num_ports = 1,
76
77 .probe = xsens_mt_probe,
78};
79
80static struct usb_serial_driver * const serial_drivers[] = {
81 &xsens_mt_device, NULL
82};
83
84module_usb_serial_driver(serial_drivers, id_table);
85
86MODULE_LICENSE("GPL");