trAvis - MANAGER

Edit File: phantom.h

/* * Copyright (C) 2005-2007 Jiri Slaby <jirislaby@gmail.com> * * 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