phantom.h 1.1 KB

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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. #ifndef __PHANTOM_H
  10. #define __PHANTOM_H
  11. #include <asm/types.h>
  12. /* PHN_(G/S)ET_REG param */
  13. struct phm_reg {
  14. __u32 reg;
  15. __u32 value;
  16. };
  17. /* PHN_(G/S)ET_REGS param */
  18. struct phm_regs {
  19. __u32 count;
  20. __u32 mask;
  21. __u32 values[8];
  22. };
  23. #define PH_IOC_MAGIC 'p'
  24. #define PHN_GET_REG _IOWR(PH_IOC_MAGIC, 0, struct phm_reg *)
  25. #define PHN_SET_REG _IOW (PH_IOC_MAGIC, 1, struct phm_reg *)
  26. #define PHN_GET_REGS _IOWR(PH_IOC_MAGIC, 2, struct phm_regs *)
  27. #define PHN_SET_REGS _IOW (PH_IOC_MAGIC, 3, struct phm_regs *)
  28. #define PH_IOC_MAXNR 3
  29. #define PHN_CONTROL 0x6 /* control byte in iaddr space */
  30. #define PHN_CTL_AMP 0x1 /* switch after torques change */
  31. #define PHN_CTL_BUT 0x2 /* is button switched */
  32. #define PHN_CTL_IRQ 0x10 /* is irq enabled */
  33. #define PHN_ZERO_FORCE 2048 /* zero torque on motor */
  34. #endif