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1  /*
2   *  Copyright (C) 2005-2007 Jiri Slaby <jirislaby@gmail.com>
3   *
4   *  This program is free software; you can redistribute it and/or modify
5   *  it under the terms of the GNU General Public License as published by
6   *  the Free Software Foundation; either version 2 of the License, or
7   *  (at your option) any later version.
8   */
9  
10  #ifndef __PHANTOM_H
11  #define __PHANTOM_H
12  
13  #include <linux/types.h>
14  
15  /* PHN_(G/S)ET_REG param */
16  struct phm_reg {
17  	__u32 reg;
18  	__u32 value;
19  };
20  
21  /* PHN_(G/S)ET_REGS param */
22  struct phm_regs {
23  	__u32 count;
24  	__u32 mask;
25  	__u32 values[8];
26  };
27  
28  #define PH_IOC_MAGIC		'p'
29  #define PHN_GET_REG		_IOWR(PH_IOC_MAGIC, 0, struct phm_reg *)
30  #define PHN_SET_REG		_IOW(PH_IOC_MAGIC, 1, struct phm_reg *)
31  #define PHN_GET_REGS		_IOWR(PH_IOC_MAGIC, 2, struct phm_regs *)
32  #define PHN_SET_REGS		_IOW(PH_IOC_MAGIC, 3, struct phm_regs *)
33  /* this ioctl tells the driver, that the caller is not OpenHaptics and might
34   * use improved registers update (no more phantom switchoffs when using
35   * libphantom) */
36  #define PHN_NOT_OH		_IO(PH_IOC_MAGIC, 4)
37  #define PHN_GETREG		_IOWR(PH_IOC_MAGIC, 5, struct phm_reg)
38  #define PHN_SETREG		_IOW(PH_IOC_MAGIC, 6, struct phm_reg)
39  #define PHN_GETREGS		_IOWR(PH_IOC_MAGIC, 7, struct phm_regs)
40  #define PHN_SETREGS		_IOW(PH_IOC_MAGIC, 8, struct phm_regs)
41  
42  #define PHN_CONTROL		0x6     /* control byte in iaddr space */
43  #define PHN_CTL_AMP		0x1     /*   switch after torques change */
44  #define PHN_CTL_BUT		0x2     /*   is button switched */
45  #define PHN_CTL_IRQ		0x10    /*   is irq enabled */
46  
47  #define PHN_ZERO_FORCE		2048	/* zero torque on motor */
48  
49  #endif
50