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/tty.h> 13 #include <linux/module.h> 14 #include <linux/usb.h> 15 #include <linux/usb/serial.h> 16 #include <linux/uaccess.h> 17 18 #define XSENS_VID 0x2639 19 20 #define MTi_10_IMU_PID 0x0001 21 #define MTi_20_VRU_PID 0x0002 22 #define MTi_30_AHRS_PID 0x0003 23 24 #define MTi_100_IMU_PID 0x0011 25 #define MTi_200_VRU_PID 0x0012 26 #define MTi_300_AHRS_PID 0x0013 27 28 #define MTi_G_700_GPS_INS_PID 0x0017 29 30 static const struct usb_device_id id_table[] = { 31 { USB_DEVICE(XSENS_VID, MTi_10_IMU_PID) }, 32 { USB_DEVICE(XSENS_VID, MTi_20_VRU_PID) }, 33 { USB_DEVICE(XSENS_VID, MTi_30_AHRS_PID) }, 34 35 { USB_DEVICE(XSENS_VID, MTi_100_IMU_PID) }, 36 { USB_DEVICE(XSENS_VID, MTi_200_VRU_PID) }, 37 { USB_DEVICE(XSENS_VID, MTi_300_AHRS_PID) }, 38 39 { USB_DEVICE(XSENS_VID, MTi_G_700_GPS_INS_PID) }, 40 { }, 41 }; 42 MODULE_DEVICE_TABLE(usb, id_table); 43 44 static int has_required_endpoints(const struct usb_host_interface *interface) 45 { 46 __u8 i; 47 int has_bulk_in = 0; 48 int has_bulk_out = 0; 49 50 for (i = 0; i < interface->desc.bNumEndpoints; ++i) { 51 if (usb_endpoint_is_bulk_in(&interface->endpoint[i].desc)) 52 has_bulk_in = 1; 53 else if (usb_endpoint_is_bulk_out(&interface->endpoint[i].desc)) 54 has_bulk_out = 1; 55 } 56 57 return has_bulk_in && has_bulk_out; 58 } 59 60 static int xsens_mt_probe(struct usb_serial *serial, 61 const struct usb_device_id *id) 62 { 63 if (!has_required_endpoints(serial->interface->cur_altsetting)) 64 return -ENODEV; 65 return 0; 66 } 67 68 static struct usb_serial_driver xsens_mt_device = { 69 .driver = { 70 .owner = THIS_MODULE, 71 .name = "xsens_mt", 72 }, 73 .id_table = id_table, 74 .num_ports = 1, 75 76 .probe = xsens_mt_probe, 77 }; 78 79 static struct usb_serial_driver * const serial_drivers[] = { 80 &xsens_mt_device, NULL 81 }; 82 83 module_usb_serial_driver(serial_drivers, id_table); 84 85 MODULE_LICENSE("GPL"); 86