Orange Pi5 kernel

^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  1) // SPDX-License-Identifier: GPL-2.0
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  2) /*
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  3)  * Xsens MT USB driver
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  4)  *
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  5)  * Copyright (C) 2013 Xsens <info@xsens.com>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  6)  */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  7) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  8) #include <linux/kernel.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300  9) #include <linux/tty.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 10) #include <linux/module.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 11) #include <linux/usb.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 12) #include <linux/usb/serial.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 13) #include <linux/uaccess.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 14) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 15) #define XSENS_VID 0x2639
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 16) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 17) #define MTi_10_IMU_PID		0x0001
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 18) #define MTi_20_VRU_PID		0x0002
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 19) #define MTi_30_AHRS_PID		0x0003
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 20) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 21) #define MTi_100_IMU_PID		0x0011
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 22) #define MTi_200_VRU_PID		0x0012
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 23) #define MTi_300_AHRS_PID	0x0013
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 24) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 25) #define MTi_G_700_GPS_INS_PID	0x0017
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 26) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 27) static const struct usb_device_id id_table[] = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 28) 	{ USB_DEVICE(XSENS_VID, MTi_10_IMU_PID) },
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 29) 	{ USB_DEVICE(XSENS_VID, MTi_20_VRU_PID) },
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 30) 	{ USB_DEVICE(XSENS_VID, MTi_30_AHRS_PID) },
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 31) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 32) 	{ USB_DEVICE(XSENS_VID, MTi_100_IMU_PID) },
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 33) 	{ USB_DEVICE(XSENS_VID, MTi_200_VRU_PID) },
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 34) 	{ USB_DEVICE(XSENS_VID, MTi_300_AHRS_PID) },
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 35) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 36) 	{ USB_DEVICE(XSENS_VID, MTi_G_700_GPS_INS_PID) },
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 37) 	{ },
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 38) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 39) MODULE_DEVICE_TABLE(usb, id_table);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 40) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 41) static int xsens_mt_probe(struct usb_serial *serial,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 42) 					const struct usb_device_id *id)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 43) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 44) 	if (serial->interface->cur_altsetting->desc.bInterfaceNumber == 1)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 45) 		return 0;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 46) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 47) 	return -ENODEV;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 48) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 49) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 50) static struct usb_serial_driver xsens_mt_device = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 51) 	.driver = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 52) 		.owner = THIS_MODULE,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 53) 		.name = "xsens_mt",
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 54) 	},
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 55) 	.id_table = id_table,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 56) 	.num_ports = 1,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 57) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 58) 	.probe = xsens_mt_probe,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 59) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 60) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 61) static struct usb_serial_driver * const serial_drivers[] = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 62) 	&xsens_mt_device, NULL
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 63) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 64) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 65) module_usb_serial_driver(serial_drivers, id_table);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 66) 
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 67) MODULE_AUTHOR("Frans Klaver <frans.klaver@xsens.com>");
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 68) MODULE_DESCRIPTION("USB-serial driver for Xsens motion trackers");
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 69) MODULE_LICENSE("GPL v2");