usb: add driver for xsens motion trackers
Signed-off-by: Frans Klaver <frans.klaver@xsens.com>
Signed-off-by: Greg Kroah-Hartman <gregkh@linuxfoundation.org>
diff --git a/drivers/usb/serial/Kconfig b/drivers/usb/serial/Kconfig
index 76f4622..dad8363 100644
--- a/drivers/usb/serial/Kconfig
+++ b/drivers/usb/serial/Kconfig
@@ -647,6 +647,18 @@
To compile this driver as a module, choose M here: the
module will be called vivopay-serial.
+config USB_SERIAL_XSENS_MT
+ tristate "Xsens motion tracker serial interface driver"
+ help
+ Say Y here if you want to use Xsens motion trackers.
+
+ This driver supports the new generation of motion trackers
+ by Xsens. Older devices can be accessed using the FTDI_SIO
+ driver.
+
+ To compile this driver as a module, choose M here: the
+ module will be called xsens_mt.
+
config USB_SERIAL_ZIO
tristate "ZIO Motherboard USB serial interface driver"
help
diff --git a/drivers/usb/serial/Makefile b/drivers/usb/serial/Makefile
index 3b3e730..eaf5ca1 100644
--- a/drivers/usb/serial/Makefile
+++ b/drivers/usb/serial/Makefile
@@ -61,5 +61,6 @@
obj-$(CONFIG_USB_SERIAL_WHITEHEAT) += whiteheat.o
obj-$(CONFIG_USB_SERIAL_XIRCOM) += keyspan_pda.o
obj-$(CONFIG_USB_SERIAL_VIVOPAY_SERIAL) += vivopay-serial.o
+obj-$(CONFIG_USB_SERIAL_XSENS_MT) += xsens_mt.o
obj-$(CONFIG_USB_SERIAL_ZIO) += zio.o
obj-$(CONFIG_USB_SERIAL_ZTE) += zte_ev.o
diff --git a/drivers/usb/serial/xsens_mt.c b/drivers/usb/serial/xsens_mt.c
new file mode 100644
index 0000000..1d5798d
--- /dev/null
+++ b/drivers/usb/serial/xsens_mt.c
@@ -0,0 +1,86 @@
+/*
+ * Xsens MT USB driver
+ *
+ * Copyright (C) 2013 Xsens <info@xsens.com>
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License version
+ * 2 as published by the Free Software Foundation.
+ */
+
+#include <linux/kernel.h>
+#include <linux/init.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 has_required_endpoints(const struct usb_host_interface *interface)
+{
+ __u8 i;
+ int has_bulk_in = 0;
+ int has_bulk_out = 0;
+
+ for (i = 0; i < interface->desc.bNumEndpoints; ++i) {
+ if (usb_endpoint_is_bulk_in(&interface->endpoint[i].desc))
+ has_bulk_in = 1;
+ else if (usb_endpoint_is_bulk_out(&interface->endpoint[i].desc))
+ has_bulk_out = 1;
+ }
+
+ return has_bulk_in && has_bulk_out;
+}
+
+static int xsens_mt_probe(struct usb_serial *serial,
+ const struct usb_device_id *id)
+{
+ if (!has_required_endpoints(serial->interface->cur_altsetting))
+ return -ENODEV;
+ return 0;
+}
+
+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_LICENSE("GPL");
