From 59e931c47fe44de354ced20136a655d4725a2b61 Mon Sep 17 00:00:00 2001
From: Frans Klaver <frans.klaver@xsens.com>
Date: Fri, 25 Jan 2013 17:05:44 +0100
Subject: usb: add driver for xsens motion trackers

Signed-off-by: Frans Klaver <frans.klaver@xsens.com>
Signed-off-by: Greg Kroah-Hartman <gregkh@linuxfoundation.org>

diff --git a/drivers/usb/serial/Kconfig b/drivers/usb/serial/Kconfig
index 76f4622..dad8363 100644
--- a/drivers/usb/serial/Kconfig
+++ b/drivers/usb/serial/Kconfig
@@ -647,6 +647,18 @@ config USB_SERIAL_VIVOPAY_SERIAL
           To compile this driver as a module, choose M here: the
           module will be called vivopay-serial.
 
+config USB_SERIAL_XSENS_MT
+	tristate "Xsens motion tracker serial interface driver"
+	help
+	  Say Y here if you want to use Xsens motion trackers.
+
+	  This driver supports the new generation of motion trackers
+	  by Xsens. Older devices can be accessed using the FTDI_SIO
+	  driver.
+
+	  To compile this driver as a module, choose M here: the
+	  module will be called xsens_mt.
+
 config USB_SERIAL_ZIO
 	tristate "ZIO Motherboard USB serial interface driver"
 	help
diff --git a/drivers/usb/serial/Makefile b/drivers/usb/serial/Makefile
index 3b3e730..eaf5ca1 100644
--- a/drivers/usb/serial/Makefile
+++ b/drivers/usb/serial/Makefile
@@ -61,5 +61,6 @@ obj-$(CONFIG_USB_SERIAL_VISOR)			+= visor.o
 obj-$(CONFIG_USB_SERIAL_WHITEHEAT)		+= whiteheat.o
 obj-$(CONFIG_USB_SERIAL_XIRCOM)			+= keyspan_pda.o
 obj-$(CONFIG_USB_SERIAL_VIVOPAY_SERIAL)		+= vivopay-serial.o
+obj-$(CONFIG_USB_SERIAL_XSENS_MT)		+= xsens_mt.o
 obj-$(CONFIG_USB_SERIAL_ZIO)			+= zio.o
 obj-$(CONFIG_USB_SERIAL_ZTE)			+= zte_ev.o
diff --git a/drivers/usb/serial/xsens_mt.c b/drivers/usb/serial/xsens_mt.c
new file mode 100644
index 0000000..1d5798d
--- /dev/null
+++ b/drivers/usb/serial/xsens_mt.c
@@ -0,0 +1,86 @@
+/*
+ * Xsens MT USB driver
+ *
+ * Copyright (C) 2013 Xsens <info@xsens.com>
+ *
+ *  This program is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU General Public License version
+ *  2 as published by the Free Software Foundation.
+ */
+
+#include <linux/kernel.h>
+#include <linux/init.h>
+#include <linux/tty.h>
+#include <linux/module.h>
+#include <linux/usb.h>
+#include <linux/usb/serial.h>
+#include <linux/uaccess.h>
+
+#define XSENS_VID 0x2639
+
+#define MTi_10_IMU_PID		0x0001
+#define MTi_20_VRU_PID		0x0002
+#define MTi_30_AHRS_PID		0x0003
+
+#define MTi_100_IMU_PID		0x0011
+#define MTi_200_VRU_PID		0x0012
+#define MTi_300_AHRS_PID	0x0013
+
+#define MTi_G_700_GPS_INS_PID	0x0017
+
+static const struct usb_device_id id_table[] = {
+	{ USB_DEVICE(XSENS_VID, MTi_10_IMU_PID) },
+	{ USB_DEVICE(XSENS_VID, MTi_20_VRU_PID) },
+	{ USB_DEVICE(XSENS_VID, MTi_30_AHRS_PID) },
+
+	{ USB_DEVICE(XSENS_VID, MTi_100_IMU_PID) },
+	{ USB_DEVICE(XSENS_VID, MTi_200_VRU_PID) },
+	{ USB_DEVICE(XSENS_VID, MTi_300_AHRS_PID) },
+
+	{ USB_DEVICE(XSENS_VID, MTi_G_700_GPS_INS_PID) },
+	{ },
+};
+MODULE_DEVICE_TABLE(usb, id_table);
+
+static int has_required_endpoints(const struct usb_host_interface *interface)
+{
+	__u8 i;
+	int has_bulk_in = 0;
+	int has_bulk_out = 0;
+
+	for (i = 0; i < interface->desc.bNumEndpoints; ++i) {
+		if (usb_endpoint_is_bulk_in(&interface->endpoint[i].desc))
+			has_bulk_in = 1;
+		else if (usb_endpoint_is_bulk_out(&interface->endpoint[i].desc))
+			has_bulk_out = 1;
+	}
+
+	return has_bulk_in && has_bulk_out;
+}
+
+static int xsens_mt_probe(struct usb_serial *serial,
+					const struct usb_device_id *id)
+{
+	if (!has_required_endpoints(serial->interface->cur_altsetting))
+		return -ENODEV;
+	return 0;
+}
+
+static struct usb_serial_driver xsens_mt_device = {
+	.driver = {
+		.owner = THIS_MODULE,
+		.name = "xsens_mt",
+	},
+	.id_table = id_table,
+	.num_ports = 1,
+
+	.probe = xsens_mt_probe,
+};
+
+static struct usb_serial_driver * const serial_drivers[] = {
+	&xsens_mt_device, NULL
+};
+
+module_usb_serial_driver(serial_drivers, id_table);
+
+MODULE_LICENSE("GPL");
-- 
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