70 lines
1.6 KiB
C
70 lines
1.6 KiB
C
|
// SPDX-License-Identifier: GPL-2.0
|
||
|
|
/*
|
||
|
|
* Xsens MT USB driver
|
||
|
|
*
|
||
|
|
* Copyright (C) 2013 Xsens <info@xsens.com>
|
||
|
|
*/
|
||
|
|
|
||
|
|
#include <linux/kernel.h>
|
||
|
|
#include <linux/tty.h>
|
||
|
|
#include <linux/module.h>
|
||
|
|
#include <linux/usb.h>
|
||
|
|
#include <linux/usb/serial.h>
|
||
|
|
#include <linux/uaccess.h>
|
||
|
|
|
||
|
|
#define XSENS_VID 0x2639
|
||
|
|
|
||
|
|
#define MTi_10_IMU_PID 0x0001
|
||
|
|
#define MTi_20_VRU_PID 0x0002
|
||
|
|
#define MTi_30_AHRS_PID 0x0003
|
||
|
|
|
||
|
|
#define MTi_100_IMU_PID 0x0011
|
||
|
|
#define MTi_200_VRU_PID 0x0012
|
||
|
|
#define MTi_300_AHRS_PID 0x0013
|
||
|
|
|
||
|
|
#define MTi_G_700_GPS_INS_PID 0x0017
|
||
|
|
|
||
|
|
static const struct usb_device_id id_table[] = {
|
||
|
|
{ USB_DEVICE(XSENS_VID, MTi_10_IMU_PID) },
|
||
|
|
{ USB_DEVICE(XSENS_VID, MTi_20_VRU_PID) },
|
||
|
|
{ USB_DEVICE(XSENS_VID, MTi_30_AHRS_PID) },
|
||
|
|
|
||
|
|
{ USB_DEVICE(XSENS_VID, MTi_100_IMU_PID) },
|
||
|
|
{ USB_DEVICE(XSENS_VID, MTi_200_VRU_PID) },
|
||
|
|
{ USB_DEVICE(XSENS_VID, MTi_300_AHRS_PID) },
|
||
|
|
|
||
|
|
{ USB_DEVICE(XSENS_VID, MTi_G_700_GPS_INS_PID) },
|
||
|
|
{ },
|
||
|
|
};
|
||
|
|
MODULE_DEVICE_TABLE(usb, id_table);
|
||
|
|
|
||
|
|
static int xsens_mt_probe(struct usb_serial *serial,
|
||
|
|
const struct usb_device_id *id)
|
||
|
|
{
|
||
|
|
if (serial->interface->cur_altsetting->desc.bInterfaceNumber == 1)
|
||
|
|
return 0;
|
||
|
|
|
||
|
|
return -ENODEV;
|
||
|
|
}
|
||
|
|
|
||
|
|
static struct usb_serial_driver xsens_mt_device = {
|
||
|
|
.driver = {
|
||
|
|
.owner = THIS_MODULE,
|
||
|
|
.name = "xsens_mt",
|
||
|
|
},
|
||
|
|
.id_table = id_table,
|
||
|
|
.num_ports = 1,
|
||
|
|
|
||
|
|
.probe = xsens_mt_probe,
|
||
|
|
};
|
||
|
|
|
||
|
|
static struct usb_serial_driver * const serial_drivers[] = {
|
||
|
|
&xsens_mt_device, NULL
|
||
|
|
};
|
||
|
|
|
||
|
|
module_usb_serial_driver(serial_drivers, id_table);
|
||
|
|
|
||
|
|
MODULE_AUTHOR("Frans Klaver <frans.klaver@xsens.com>");
|
||
|
|
MODULE_DESCRIPTION("USB-serial driver for Xsens motion trackers");
|
||
|
|
MODULE_LICENSE("GPL v2");
|