Add wheel WASD

g29-wheel/Makefile

@@ -0,0 +1,14 @@
+
+.PHONY: all clean install uninstall
+
+obj-m += g29_usb.o
+PWD := $(CURDIR)
+
+all:
+	$(MAKE) -C /lib/modules/$(shell uname -r)/build M=$(PWD) modules
+	mkdir -p build
+	-mv -f -- *.ko *.mod.c *.o .*.o *.mod modules.order .*.cmd *.symvers build/
+
+clean:
+	$(MAKE) -C /lib/modules/$(shell uname -r)/build M=$(PWD) clean
+	rm -rf build

g29-wheel/g29_usb.c

@@ -21,21 +21,18 @@
 #include <linux/usb.h>
 #include <linux/usb/input.h>
 #include <linux/input.h>
-#include <asm/unaligned.h>
+#include <linux/timer.h>
+#include <linux/jiffies.h>
+#include <linux/hid.h>
 
-MODULE_AUTHOR("LLP group 32");
+MODULE_AUTHOR("LLP group 16");
-MODULE_DESCRIPTION("Logitech G29 -> Media keys (USB driver)");
+MODULE_DESCRIPTION("Logitech G29 USB driver");
 MODULE_LICENSE("GPL");
 
 #define USB_VENDOR_ID_LOGITECH      0x046d
 #define USB_DEVICE_ID_LOGITECH_G29  0xc24f
 #define USB_DEVICE_ID_LOGITECH_G29_ALT 0xc260
 
-#define G29_REPORT_LEN 12
-
-/*
- * Button masks
- */
 #define G29_BTN_PLUS        0x00800000u
 #define G29_BTN_MINUS       0x01000000u
 #define G29_BTN_RED_CW      0x02000000u
@@ -53,19 +50,16 @@ module_param(mode, int, 0444);
 MODULE_PARM_DESC(mode, "Mapping mode (0=MEDIA)");
 
 struct g29_state {
-	u32 buttons;
+	u32 buttons_le;
-	u16 rot;
+	u16 rot_le;
 	u8 gas;
 	u8 brk;
 	u8 clt;
-	u8 grx;
+	u8 gr_x;
-	u8 gry;
+	u8 gr_y;
-	u8 grz;
+	u8 gr_z;
 };
 
-/*
- * Mapping table entry
- */
 struct g29_keymap_edge {
 	u32 mask;
 	unsigned short keycode;
@@ -94,79 +88,58 @@ struct g29_dev {
 	struct urb *urb;
 	u8 *buf;
 	dma_addr_t buf_dma;
+	int maxp;
+	int interval;
+	int endpoint;
+
+	struct timer_list steer_timer;
+	u32 steer_phase_ms;
 
 	struct g29_state last;
 };
 
-/* Parsing */
 
-static bool g29_parse_report(struct g29_state *out, const u8 *data, int len)
+static void g29_steer_timer_fn(struct timer_list *t) {
-{
+	struct g29_dev *g29 = timer_container_of(g29, t, steer_timer);
-	if (len < G29_REPORT_LEN)
-		return false;
 
-	/* bytes 0..3 buttons bitfield */
+	const int rot = le16_to_cpu(g29->last.rot_le);
-	out->buttons = get_unaligned_le32(&data[0]);
 
-	/* bytes 4..5 rotation */
+	input_report_key(g29->input, KEY_W, g29->last.gas <= 0x80);
-	out->rot = get_unaligned_le16(&data[4]);
+	input_report_key(g29->input, KEY_S, g29->last.clt <= 0x80);
+	input_report_key(g29->input, KEY_A, rot <= 0x6000);
+	input_report_key(g29->input, KEY_D, rot >= 0xA000);
 
-	out->gas = data[6];
+	mod_timer(&g29->steer_timer, jiffies + msecs_to_jiffies(2));
-	out->brk = data[7];
-	out->clt = data[8];
-	out->grx = data[9];
-	out->gry = data[10];
-	out->grz = data[11];
-
-	return true;
 }
 
-/* Mapping policy */
+static void g29_apply_media_mode(struct g29_dev *g29, const struct g29_state *cur, const struct g29_state *prev) {
-
+	u32 pressed = le32_to_cpu(cur->buttons_le & ~prev->buttons_le);
-static void g29_pulse_key(struct input_dev *input, unsigned short keycode)
+	for (int i = 0; i < ARRAY_SIZE(g29_media_edge_map); i++) {
-{
-	/* A pulse is a press+release within one report frame. */
-	input_report_key(input, keycode, 1);
-	input_report_key(input, keycode, 0);
-}
-
-static void g29_apply_media_mode(struct g29_dev *g29,
-				const struct g29_state *prev,
-				const struct g29_state *cur)
-{
-	u32 pressed = cur->buttons & ~prev->buttons;
-	size_t i;
-
-	for (i = 0; i < ARRAY_SIZE(g29_media_edge_map); i++) {
 		const struct g29_keymap_edge *e = &g29_media_edge_map[i];
-		if (pressed & e->mask)
+		if (pressed & e->mask) {
-			g29_pulse_key(g29->input, e->keycode);
+			input_report_key(g29->input, e->keycode, 1);
+			input_report_key(g29->input, e->keycode, 0);
+		}
 	}
 
 	input_sync(g29->input);
 }
 
-static void g29_process_report(struct g29_dev *g29, const u8 *data, int len)
+static void g29_process_report(struct g29_dev *g29, const u8 *data, unsigned int len) {
-{
+	if (len < 12) return;
-	struct g29_state cur;
-
-	if (!g29_parse_report(&cur, data, len))
-		return;
 
+	struct g29_state *cur = (void *) data;
 	switch (mode) {
 	case G29_MODE_MEDIA:
 	default:
-		g29_apply_media_mode(g29, &g29->last, &cur);
+		g29_apply_media_mode(g29, cur, &g29->last);
 		break;
 	}
 
-	g29->last = cur;
+	g29->last = *cur;
 }
 
-/* URB plumbing */
+static void g29_urb_complete(struct urb *urb) {
-
-static void g29_urb_complete(struct urb *urb)
-{
 	struct g29_dev *g29 = urb->context;
 	int ret;
 
@@ -189,79 +162,73 @@ resubmit:
 		dev_err(&g29->udev->dev, "usb_submit_urb failed: %d\n", ret);
 }
 
-static int g29_input_open(struct input_dev *input)
+static int g29_input_open(struct input_dev *input) {
-{
 	struct g29_dev *g29 = input_get_drvdata(input);
 
 	g29->urb->dev = g29->udev;
 	if (usb_submit_urb(g29->urb, GFP_KERNEL))
 		return -EIO;
 
+	mod_timer(&g29->steer_timer, jiffies + msecs_to_jiffies(2));
+
 	return 0;
 }
 
-static void g29_input_close(struct input_dev *input)
+static void g29_input_close(struct input_dev *input) {
-{
 	struct g29_dev *g29 = input_get_drvdata(input);
-
+	timer_delete_sync(&g29->steer_timer);
 	usb_kill_urb(g29->urb);
 }
 
-/* USB driver binding */
+static int g29_probe(struct usb_interface *intf, const struct usb_device_id *id) {
-
-static int g29_probe(struct usb_interface *intf, const struct usb_device_id *id)
-{
 	struct usb_device *udev = interface_to_usbdev(intf);
-	struct usb_host_interface *alts = intf->cur_altsetting;
+	int ret;
-	struct usb_endpoint_descriptor *ep = NULL;
-	struct g29_dev *g29;
-	struct input_dev *input;
-	int i, pipe, maxp, error;
 
 	/* Find an interrupt IN endpoint capable of carrying the 12-byte report. */
-	for (i = 0; i < alts->desc.bNumEndpoints; i++) {
+	struct usb_endpoint_descriptor *ep = NULL;
-		struct usb_endpoint_descriptor *cand = &alts->endpoint[i].desc;
+	const struct usb_host_interface *alts = intf->cur_altsetting;
-		if (!usb_endpoint_is_int_in(cand))
+	for (int i = 0; i < alts->desc.bNumEndpoints; i++) {
+		struct usb_endpoint_descriptor *d = &alts->endpoint[i].desc;
+		if (!usb_endpoint_is_int_in(d))
 			continue;
-		pipe = usb_rcvintpipe(udev, cand->bEndpointAddress);
+		if (usb_maxpacket(udev, usb_rcvintpipe(udev, d->bEndpointAddress)) >= 12) {
-		maxp = usb_maxpacket(udev, pipe);
+			ep = d;
-		if (maxp >= G29_REPORT_LEN) {
-			ep = cand;
 			break;
 		}
 	}
+	if (!ep) return -ENODEV;
 
-	if (!ep)
+	struct g29_dev *g29;
-		return -ENODEV;
+	if ((g29 = kzalloc(sizeof(*g29), GFP_KERNEL)) == NULL) {
-
-	g29 = kzalloc(sizeof(*g29), GFP_KERNEL);
-	if (!g29)
 		return -ENOMEM;
+	}
 
-	input = input_allocate_device();
+	struct input_dev *input;
-	if (!input) {
+	if ((input = input_allocate_device()) == NULL) {
-		error = -ENOMEM;
+		ret = -ENOMEM;
 		goto err_free_g29;
 	}
 
 	g29->udev = udev;
 	g29->input = input;
+
+	g29->endpoint = usb_endpoint_num(ep);
+	g29->maxp = usb_endpoint_maxp(ep);
+	g29->interval = ep->bInterval;
 	memset(&g29->last, 0, sizeof(g29->last));
 
-	/* Allocate a fixed-size report buffer (12 bytes). */
+	timer_setup(&g29->steer_timer, g29_steer_timer_fn, 0);
-	g29->buf = usb_alloc_coherent(udev, G29_REPORT_LEN, GFP_KERNEL, &g29->buf_dma);
+
-	if (!g29->buf) {
+	if ((g29->buf = usb_alloc_coherent(udev, g29->maxp, GFP_KERNEL, &g29->buf_dma)) == NULL) {
-		error = -ENOMEM;
+		ret = -ENOMEM;
 		goto err_free_input;
 	}
 
-	g29->urb = usb_alloc_urb(0, GFP_KERNEL);
+	if ((g29->urb = usb_alloc_urb(0, GFP_KERNEL)) == NULL) {
-	if (!g29->urb) {
+		ret = -ENOMEM;
-		error = -ENOMEM;
 		goto err_free_buf;
 	}
 
-	/* Build a friendly input device name. */
 	if (udev->manufacturer)
 		strscpy(g29->name, udev->manufacturer, sizeof(g29->name));
 	if (udev->product) {
@@ -271,7 +238,7 @@ static int g29_probe(struct usb_interface *intf, const struct usb_device_id *id)
 	}
 	if (!strlen(g29->name))
 		snprintf(g29->name, sizeof(g29->name),
-			 "Logitech G29 Media %04x:%04x",
+			 "Logitech G29 USB %04x:%04x",
 			 le16_to_cpu(udev->descriptor.idVendor),
 			 le16_to_cpu(udev->descriptor.idProduct));
 
@@ -292,20 +259,24 @@ static int g29_probe(struct usb_interface *intf, const struct usb_device_id *id)
 	input_set_capability(input, EV_KEY, KEY_NEXTSONG);
 	input_set_capability(input, EV_KEY, KEY_PREVIOUSSONG);
 
+	input_set_capability(input, EV_KEY, KEY_W);
+	input_set_capability(input, EV_KEY, KEY_A);
+	input_set_capability(input, EV_KEY, KEY_S);
+	input_set_capability(input, EV_KEY, KEY_D);
+
 	input_set_drvdata(input, g29);
 	input->open = g29_input_open;
 	input->close = g29_input_close;
 
-	pipe = usb_rcvintpipe(udev, ep->bEndpointAddress);
+	usb_fill_int_urb(g29->urb, udev, usb_rcvintpipe(udev, ep->bEndpointAddress),
-	usb_fill_int_urb(g29->urb, udev, pipe,
+			 g29->buf, g29->maxp,
-			 g29->buf, G29_REPORT_LEN,
 			 g29_urb_complete, g29, ep->bInterval);
 	g29->urb->transfer_dma = g29->buf_dma;
 	g29->urb->transfer_flags |= URB_NO_TRANSFER_DMA_MAP;
 
-	error = input_register_device(input);
+	if ((ret = input_register_device(input)) != 0) {
-	if (error)
 		goto err_free_urb;
+	}
 
 	usb_set_intfdata(intf, g29);
 
@@ -318,30 +289,24 @@ static int g29_probe(struct usb_interface *intf, const struct usb_device_id *id)
 err_free_urb:
 	usb_free_urb(g29->urb);
 err_free_buf:
-	usb_free_coherent(udev, G29_REPORT_LEN, g29->buf, g29->buf_dma);
+	usb_free_coherent(udev, g29->maxp, g29->buf, g29->buf_dma);
 err_free_input:
 	input_free_device(input);
 err_free_g29:
 	kfree(g29);
-	return error;
+	return ret;
 }
 
-static void g29_disconnect(struct usb_interface *intf)
+static void g29_disconnect(struct usb_interface *intf) {
-{
 	struct g29_dev *g29 = usb_get_intfdata(intf);
-
 	usb_set_intfdata(intf, NULL);
-	if (!g29)
+	if (!g29) return;
-		return;
-
 	usb_kill_urb(g29->urb);
 	input_unregister_device(g29->input);
 	usb_free_urb(g29->urb);
-	usb_free_coherent(interface_to_usbdev(intf), G29_REPORT_LEN,
+	usb_free_coherent(interface_to_usbdev(intf), g29->maxp, g29->buf, g29->buf_dma);
-			  g29->buf, g29->buf_dma);
 	kfree(g29);
-
+	dev_info(&intf->dev, "G29 driver disconnected\n");
-	dev_info(&intf->dev, "G29 media driver disconnected\n");
 }
 
 static const struct usb_device_id g29_id_table[] = {
@@ -352,10 +317,10 @@ static const struct usb_device_id g29_id_table[] = {
 MODULE_DEVICE_TABLE(usb, g29_id_table);
 
 static struct usb_driver g29_driver = {
-	.name = "g29_media_usb",
+	.name = "g29_usb",
+	.id_table = g29_id_table,
 	.probe = g29_probe,
 	.disconnect = g29_disconnect,
-	.id_table = g29_id_table,
 };
 
 module_usb_driver(g29_driver);

g29_media_usb/Makefile

@@ -1,28 +0,0 @@
-obj-m += g29_media_usb.o
-
-PWD := $(CURDIR)
-
-.PHONY: all clean install uninstall
-
-all:
-	$(MAKE) -C /lib/modules/$(shell uname -r)/build M=$(PWD) modules
-	mkdir -p build
-	mv -f *.ko build/ 2>/dev/null || true
-
-clean:
-	$(MAKE) -C /lib/modules/$(shell uname -r)/build M=$(PWD) clean
-	rm -rf build
-
-install:
-	$(MAKE) -C /lib/modules/$(shell uname -r)/build M=$(PWD) modules_install
-	depmod -a
-
-uninstall:
-	@modpath=$$(modinfo -n g29_media_usb 2>/dev/null); \
-	if [ -z "$$modpath" ]; then \
-		echo "Module g29_media_usb not found via modinfo (not installed?)"; \
-		exit 1; \
-	fi; \
-	echo "Removing $$modpath"; \
-	rm -f "$$modpath"; \
-	depmod -a

wasd-emulator/Makefile

@@ -0,0 +1,25 @@
+
+.PHONY: all
+
+obj-m += wasd.o
+KVER := $(shell uname -r)
+KDIR ?= $(firstword $(wildcard /lib/modules/$(KVER)/build) $(wildcard /usr/lib/modules/$(KVER)/build))
+PWD := $(shell pwd)
+OUT := $(PWD)/out
+
+all:
+	@if [ -z "$(KDIR)" ]; then \
+		echo "ERROR: kernel build dir not found for $(KVER). Install kernel headers (e.g. linux-headers)"; \
+		exit 2; \
+	fi
+	mkdir -p $(OUT)
+	$(MAKE) -C $(KDIR) M=$(PWD) modules
+	-mv -f -- *.ko *.mod.c *.o .*.o *.mod modules.order .*.cmd *.symvers $(OUT)
+
+clean:
+	@if [ -z "$(KDIR)" ]; then \
+		echo "ERROR: kernel build dir not found for $(KVER)."; \
+		exit 2; \
+	fi
+	$(MAKE) -C $(KDIR) M=$(PWD) clean
+	rm -rf $(OUT) *.cmd *.order *.mod *.o

wasd-emulator/wasd.c

@@ -0,0 +1,223 @@
+
+#include <linux/kernel.h>
+#include <linux/module.h>
+#include <linux/usb.h>
+#include <linux/usb/ch9.h>
+#include <linux/usb/input.h>
+#include <linux/input.h>
+#include <linux/slab.h>
+
+#define DRV_NAME "usb_steeringwheel_wasd"
+
+struct wheel_evt {
+    uint32_t buttons_be;
+    uint16_t rot_be;
+    uint8_t gas;
+    uint8_t brk;
+    uint8_t clt;
+    uint8_t gr_x;
+    uint8_t gr_y;
+    uint8_t gr_z;
+};
+
+struct wheel {
+    struct usb_device *udev;
+    struct usb_interface *intf;
+    struct input_dev *input;
+
+    struct urb *irq_urb;
+    struct wheel_evt *irq_data;
+    dma_addr_t irq_dma;
+    int irq_len;
+    int irq_interval;
+    int irq_ep;
+
+    char phys[64];
+    atomic_t opened;
+};
+
+static int drv_open(struct input_dev *dev) {
+    struct wheel *w = input_get_drvdata(dev);
+    if (!w) return -ENODEV;
+    atomic_set(&w->opened, 1);
+    int ret;
+    if ((ret = usb_submit_urb(w->irq_urb, GFP_KERNEL))) {
+        atomic_set(&w->opened, 0);
+        return ret;
+    }
+    return 0;
+}
+
+static void drv_irq(struct urb *urb) {
+    // called every 2ms?
+    struct wheel *w = urb->context;
+    if (!w || !atomic_read(&w->opened))
+        return;
+
+    const int status = urb->status;
+    if (status) {
+        if (status == -ENOENT || status == -ECONNRESET || status == -ESHUTDOWN)
+            return;
+        dev_dbg(&w->intf->dev, "irq urb status %d\n", status);
+        goto resubmit;
+    }
+
+    const struct wheel_evt *data = w->irq_data;
+    const int rot = be16_to_cpu(data->buttons_be);
+    // TODO set keys according to ratio
+    input_report_key(w->input, KEY_W, data->gas <= 0x80);
+    input_report_key(w->input, KEY_S, data->brk <= 0x80);
+    input_report_key(w->input, KEY_A, rot <= 0x6000);
+    input_report_key(w->input, KEY_D, rot >= 0xA000);
+    input_sync(w->input);
+
+resubmit:
+    usb_submit_urb(w->irq_urb, GFP_ATOMIC);
+}
+
+static void drv_close(struct input_dev *dev) {
+    struct wheel *w = input_get_drvdata(dev);
+    if (!w) return;
+    atomic_set(&w->opened, 0);
+    usb_kill_urb(w->irq_urb);
+}
+
+static int drv_probe(struct usb_interface *intf, const struct usb_device_id *id) {
+    struct usb_device *udev = interface_to_usbdev(intf);
+    int ret;
+
+    // Logitech G29
+    //if (le16_to_cpu(udev->descriptor.idVendor) != 0x046d || le16_to_cpu(udev->descriptor.idProduct) != 0xc24f)
+    //    return -ENODEV;
+
+    struct usb_endpoint_descriptor *ep = NULL;
+    const struct usb_host_interface *alts = intf->cur_altsetting;
+    for (int i = 0; i < alts->desc.bNumEndpoints; i++) {
+        struct usb_endpoint_descriptor *d = &alts->endpoint[i].desc;
+        if (usb_endpoint_is_int_in(d)) {
+            ep = d;
+            break;
+        }
+    }
+    if (!ep) return -ENODEV;
+
+    struct wheel *w;
+    if ((w = kzalloc(sizeof(*w), GFP_KERNEL)) == NULL)
+        return -ENOMEM;
+
+    w->udev = usb_get_dev(udev);
+    w->intf = intf;
+    atomic_set(&w->opened, 0);
+
+    w->irq_ep = usb_endpoint_num(ep);
+    w->irq_len = usb_endpoint_maxp(ep);
+    w->irq_interval = ep->bInterval;
+
+    if ((w->irq_urb = usb_alloc_urb(0, GFP_KERNEL)) == NULL) {
+        ret = -ENOMEM;
+        goto err_free;
+    }
+
+    if ((w->irq_data = usb_alloc_coherent(udev, w->irq_len, GFP_KERNEL, &w->irq_dma)) == NULL) {
+        ret = -ENOMEM;
+        goto err_free_urb;
+    }
+
+    if ((w->input = input_allocate_device()) == NULL) {
+        ret = -ENOMEM;
+        goto err_free_buf;
+    }
+
+    usb_make_path(udev, w->phys, sizeof(w->phys));
+    strlcat(w->phys, "/input0", sizeof(w->phys));
+
+    w->input->name = "USB Boot Mouse (example driver)";
+    w->input->phys = w->phys;
+    usb_to_input_id(udev, &w->input->id);
+    w->input->dev.parent = &intf->dev;
+
+    w->input->open = drv_open;
+    w->input->close = drv_close;
+
+    input_set_drvdata(w->input, w);
+
+    usb_fill_int_urb(
+        w->irq_urb,
+        udev,
+        usb_rcvintpipe(udev, ep->bEndpointAddress),
+        w->irq_data,
+        w->irq_len,
+        drv_irq,
+        w,
+        w->irq_interval);
+
+    w->irq_urb->transfer_dma = w->irq_dma;
+    w->irq_urb->transfer_flags |= URB_NO_TRANSFER_DMA_MAP;
+
+    usb_set_intfdata(intf, w);
+
+    if ((ret = input_register_device(w->input)) != 0)
+        goto err_clear_intfdata;
+
+    dev_info(&intf->dev,
+        "bound to %04x:%04x, int-in ep 0x%02x maxp %u interval %u\n",
+        le16_to_cpu(udev->descriptor.idVendor),
+        le16_to_cpu(udev->descriptor.idProduct),
+        ep->bEndpointAddress,
+        w->irq_len,
+        w->irq_interval);
+
+    return 0;
+
+err_clear_intfdata:
+    usb_set_intfdata(intf, NULL);
+    input_free_device(w->input);
+    w->input = NULL;
+err_free_buf:
+    usb_free_coherent(udev, w->irq_len, w->irq_data, w->irq_dma);
+err_free_urb:
+    usb_free_urb(w->irq_urb);
+err_free:
+    usb_put_dev(w->udev);
+    kfree(w);
+    return ret;
+}
+
+static void drv_disconnect(struct usb_interface *intf) {
+    struct wheel *w = usb_get_intfdata(intf);
+    usb_set_intfdata(intf, NULL);
+    if (!w) return;
+
+    if (w->input) {
+        input_unregister_device(w->input);
+        w->input = NULL;
+    }
+
+    usb_kill_urb(w->irq_urb);
+    usb_free_coherent(w->udev, w->irq_len, w->irq_data, w->irq_dma);
+    usb_free_urb(w->irq_urb);
+    usb_put_dev(w->udev);
+    kfree(w);
+
+    dev_info(&intf->dev, "disconnected\n");
+}
+
+static const struct usb_device_id drv_id_table[] = {
+    { USB_DEVICE_INTERFACE_NUMBER(0x046d, 0xc24f, 0) },
+    { USB_INTERFACE_INFO(3, 1, 1) },
+    {}
+};
+MODULE_DEVICE_TABLE(usb, drv_id_table);
+
+static struct usb_driver drv = {
+    .name = DRV_NAME,
+    .probe = drv_probe,
+    .disconnect = drv_disconnect,
+    .id_table = drv_id_table,
+};
+
+module_usb_driver(drv);
+
+MODULE_AUTHOR("Lorenz Stechauner");
+MODULE_DESCRIPTION("Steering wheel WASD emulator");
+MODULE_LICENSE("GPL");