mirror of
https://github.com/adulau/aha.git
synced 2024-12-29 04:06:22 +00:00
bc552f7715
This new version guarantees amb_bit switch in small enough intervals, so that the device won't stop working in the middle of a movement anymore. However it preserves old (openhaptics) functionality. Signed-off-by: Jiri Slaby <jirislaby@gmail.com> Signed-off-by: Andrew Morton <akpm@linux-foundation.org> Signed-off-by: Linus Torvalds <torvalds@linux-foundation.org>
46 lines
1.3 KiB
C
46 lines
1.3 KiB
C
/*
|
|
* Copyright (C) 2005-2007 Jiri Slaby <jirislaby@gmail.com>
|
|
*
|
|
* This program is free software; you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation; either version 2 of the License, or
|
|
* (at your option) any later version.
|
|
*/
|
|
|
|
#ifndef __PHANTOM_H
|
|
#define __PHANTOM_H
|
|
|
|
#include <asm/types.h>
|
|
|
|
/* PHN_(G/S)ET_REG param */
|
|
struct phm_reg {
|
|
__u32 reg;
|
|
__u32 value;
|
|
};
|
|
|
|
/* PHN_(G/S)ET_REGS param */
|
|
struct phm_regs {
|
|
__u32 count;
|
|
__u32 mask;
|
|
__u32 values[8];
|
|
};
|
|
|
|
#define PH_IOC_MAGIC 'p'
|
|
#define PHN_GET_REG _IOWR(PH_IOC_MAGIC, 0, struct phm_reg *)
|
|
#define PHN_SET_REG _IOW (PH_IOC_MAGIC, 1, struct phm_reg *)
|
|
#define PHN_GET_REGS _IOWR(PH_IOC_MAGIC, 2, struct phm_regs *)
|
|
#define PHN_SET_REGS _IOW (PH_IOC_MAGIC, 3, struct phm_regs *)
|
|
/* this ioctl tells the driver, that the caller is not OpenHaptics and might
|
|
* use improved registers update (no more phantom switchoffs when using
|
|
* libphantom) */
|
|
#define PHN_NOT_OH _IO (PH_IOC_MAGIC, 4)
|
|
#define PH_IOC_MAXNR 4
|
|
|
|
#define PHN_CONTROL 0x6 /* control byte in iaddr space */
|
|
#define PHN_CTL_AMP 0x1 /* switch after torques change */
|
|
#define PHN_CTL_BUT 0x2 /* is button switched */
|
|
#define PHN_CTL_IRQ 0x10 /* is irq enabled */
|
|
|
|
#define PHN_ZERO_FORCE 2048 /* zero torque on motor */
|
|
|
|
#endif
|