/*
* 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
y~or5J ={Eeu磝Qk ᯘG{?+]ן?wM3X^歌>{7پK>on\jy R g/=fOroNVv~Y+ NGuÝHWyw[eQʨSb> >}Gmx[o[<{Ϯ_qF vM IENDB`
