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/*
* 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/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_AUTHOR("Frans Klaver <frans.klaver@xsens.com>");
MODULE_DESCRIPTION("USB-serial driver for Xsens motion trackers");
MODULE_LICENSE("GPL");
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