phantom.h

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/*
 *  Copyright (C) 2005-2007 Jiri Slaby <[email protected]>
 *
 *  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 <linux/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 PHN_GETREG      _IOWR(PH_IOC_MAGIC, 5, struct phm_reg)
#define PHN_SETREG      _IOW(PH_IOC_MAGIC, 6, struct phm_reg)
#define PHN_GETREGS     _IOWR(PH_IOC_MAGIC, 7, struct phm_regs)
#define PHN_SETREGS     _IOW(PH_IOC_MAGIC, 8, struct phm_regs)

#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