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 31 static 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 }; 43 MODULE_DEVICE_TABLE(usb, id_table); 44 45 static 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 61 static 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 69 static 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 80 static struct usb_serial_driver * const serial_drivers[] = { 81 &xsens_mt_device, NULL 82 }; 83 84 module_usb_serial_driver(serial_drivers, id_table); 85 86 MODULE_LICENSE("GPL"); 87