LinuxCNC HAL Pin Names: Belkin Nostromo N52 SpeedPad

A (formerly Belkin, now Razer, which is evidently unrelated to Mazer Rackham) Nostromo N52 SpeedPad might not be a perfect CNC pendant, but it does have plenty of buttons and an (oddly oriented) XY joypad that might be useful for, say, a 3D printer controller running LinuxCNC.

Belkin Nostromo N52 SpeedPad

Belkin Nostromo N52 SpeedPad

Following the same path as with the Logitech Dual Action Gamepad that became the Joggy Thing, we find that the N52 reports itself as a keyboard and a mouse:

less /proc/bus/input/devices

... snippage ...
I: Bus=0003 Vendor=050d Product=0815 Version=0110
N: Name="Honey Bee  Nostromo SpeedPad2 "
P: Phys=usb-0000:00:02.0-10/input0
S: Sysfs=/devices/pci0000:00/0000:00:02.0/usb2/2-10/2-10:1.0/input/input3
U: Uniq=
H: Handlers=kbd event3
B: EV=100013
B: KEY=e080ffdf 1cfffff ffffffff fffffffe
B: MSC=10

I: Bus=0003 Vendor=050d Product=0815 Version=0110
N: Name="Honey Bee  Nostromo SpeedPad2 "
P: Phys=usb-0000:00:02.0-10/input1
S: Sysfs=/devices/pci0000:00/0000:00:02.0/usb2/2-10/2-10:1.1/input/input4
U: Uniq=
H: Handlers=mouse1 event4
B: EV=20017
B: KEY=70000 0 0 0 0 0 0 0 0
B: REL=103
B: MSC=10
B: LED=7

The corresponding device files belong to the root user:

ll /dev/input
... snippage ...
crw-r-----  1 root root 13, 67 2013-02-08 11:06 event3
crw-r-----  1 root root 13, 68 2013-02-08 11:06 event4
... snippage ...
crw-r-----  1 root root 13, 33 2013-02-08 11:06 mouse1

Which calls for some udev trickery to change the owner & permissions during boot / hotplugging so that it becomes available to mere mortals such as I.

First, get the bus connection information:

lsusb
... snippage ...
Bus 002 Device 004: ID 050d:0815 Belkin Components Nostromo n52 HID SpeedPad Mouse Wheel
... snippage ...

Then dump the attributes:

udevadm info --query=all --attribute-walk --name=/dev/bus/usb/002/004

Udevadm info starts with the device specified by the devpath and then
walks up the chain of parent devices. It prints for every device
found, all possible attributes in the udev rules key format.
A rule to match, can be composed by the attributes of the device
and the attributes from one single parent device.

  looking at device '/devices/pci0000:00/0000:00:02.0/usb2/2-10':
    KERNEL=="2-10"
    SUBSYSTEM=="usb"
    DRIVER=="usb"
    ATTR{configuration}==""
    ATTR{bNumInterfaces}==" 2"
    ATTR{bConfigurationValue}=="1"
    ATTR{bmAttributes}=="80"
    ATTR{bMaxPower}==" 90mA"
    ATTR{urbnum}=="1354"
    ATTR{idVendor}=="050d"
    ATTR{idProduct}=="0815"
    ATTR{bcdDevice}=="0210"
    ATTR{bDeviceClass}=="00"
    ATTR{bDeviceSubClass}=="00"
    ATTR{bDeviceProtocol}=="00"
    ATTR{bNumConfigurations}=="1"
    ATTR{bMaxPacketSize0}=="8"
    ATTR{speed}=="1.5"
    ATTR{busnum}=="2"
    ATTR{devnum}=="4"
    ATTR{version}==" 1.10"
    ATTR{maxchild}=="0"
    ATTR{quirks}=="0x0"
    ATTR{authorized}=="1"
    ATTR{manufacturer}=="Honey Bee "
    ATTR{product}=="Nostromo SpeedPad2 "

... snippage ...

Note the trailing blank in the manufacturer and product values.

Create a new rules file /etc/udev/rule/90-Nostromo.rules to change the group and permissions:

# Belkin Nostromo N52 SpeedPad controller for LinuxCNC
# Ed Nisley - KE4ZNU - February 2013

ATTRS{product}=="Nostromo SpeedPad2",GROUP="plugdev",MODE="0660"

Note that the file name must start with a number around 90- to avoid being clobbered by a rule in /lib/udev/rules.d/50-udev-default.rules that (re)sets the permissions to 0640; the doc suggests that rules without numbers happen after all the number rules, so perhaps you could just use meaningful names. That took an embarrassingly long time to figure out…

There’s no need for the trailing blank in that rule, as the match proceeds left-to-right and stops at the end of the test string.

You must, perforce, be in the plugdev group. If not, add yourself.

You need not unplug the N52 to test the rule. Just use:

sudo udevadm trigger

Which produces the desired result:

crw-rw----  1 root plugdev 13, 67 2013-02-08 15:09 event3
crw-rw----  1 root plugdev 13, 68 2013-02-08 15:09 event4
... snippage ...
crw-rw----  1 root plugdev 13, 33 2013-02-08 15:09 mouse1

Poking around using, among other things, xev reveals:

  • Main keypad is the left half of a standard QWERTY keyboard
  • Joypad returns cursor keys, center push = nothing
  • Orange button is, weirdly, the Left-Alt key
  • Wheel is a mouse scroll wheel
  • Push wheel = middle mouse button
  • Thumb pad = space
  • RGB LEDs are, respectively, num-, caps-, and scroll-lock

Then load HAL:

halrun
loadusr -W hal_input -K +Nostromo:0 -KRL +Nostromo:1
show pin input.*
loadusr halmeter

The + prefix tells HAL to capture the named device and prevent its events from reaching X. The KRL codes suggest which functions you’re interested in for that particular device. The suffix digit selects successive devices for multiple gadgets matching the same name string.

Apparently, the N52 reports it can produce all the usual keyboard and mouse values & buttons, even if they’re not connected to physical hardware. I suspect it has generic keyboard / mouse controllers inside, with just a few of the usual matrix crosspoints connected to switches.

The basic key mapping, sorted by the Nostromo functions:

Type Dir Name Nostromo key
bit OUT input.0.key-tab F1
bit OUT input.0.key-q F2
bit OUT input.0.key-w F3
bit OUT input.0.key-e F4
bit OUT input.0.key-r F5
bit OUT input.0.key-capslock F6
bit OUT input.0.key-a F7
bit OUT input.0.key-s F8
bit OUT input.0.key-d F9
bit OUT input.0.key-f F10
bit OUT input.0.key-leftshift F11
bit OUT input.0.key-z F12
bit OUT input.0.key-x F13
bit OUT input.0.key-c F14
bit OUT input.0.key-space F15
bit OUT input.0.key-leftalt Orange button
bit OUT input.0.key-right Pad bottom
bit OUT input.0.key-down Pad front
bit OUT input.0.key-up Pad rear
bit OUT input.0.key-left Pad top
bit OUT input.1.btn-middle Wheel press
s32 OUT input.1.rel-wheel-counts Scroll wheel
bit IN input.1.led-numl Red LED
bit IN input.1.led-capsl Green LED
bit IN input.1.led-scrolll Blue LED

The bit pins also have inverted values available on the corresponding -not pins. The LEDs have an -invert that flips the sense of the input pin. The rel-wheel pin has other useful tidbits as suffixes; the count changes by ±1 for each wheel detent.

The Tab key and all the letters auto-repeat, the various Shift and Alt keys do not. That seems to make no difference to the bit values reported by HAL.

The complete table, sorted by HAL pin name:

Type Dir Name Nostromo key
bit OUT input.0.key-0
bit OUT input.0.key-0-not
bit OUT input.0.key-1
bit OUT input.0.key-1-not
bit OUT input.0.key-102nd
bit OUT input.0.key-102nd-not
bit OUT input.0.key-2
bit OUT input.0.key-2-not
bit OUT input.0.key-3
bit OUT input.0.key-3-not
bit OUT input.0.key-4
bit OUT input.0.key-4-not
bit OUT input.0.key-5
bit OUT input.0.key-5-not
bit OUT input.0.key-6
bit OUT input.0.key-6-not
bit OUT input.0.key-7
bit OUT input.0.key-7-not
bit OUT input.0.key-8
bit OUT input.0.key-8-not
bit OUT input.0.key-9
bit OUT input.0.key-9-not
bit OUT input.0.key-a F7
bit OUT input.0.key-a-not
bit OUT input.0.key-apostrophe
bit OUT input.0.key-apostrophe-not
bit OUT input.0.key-b
bit OUT input.0.key-b-not
bit OUT input.0.key-backslash
bit OUT input.0.key-backslash-not
bit OUT input.0.key-backspace
bit OUT input.0.key-backspace-not
bit OUT input.0.key-c F14
bit OUT input.0.key-c-not
bit OUT input.0.key-capslock F6
bit OUT input.0.key-capslock-not
bit OUT input.0.key-comma
bit OUT input.0.key-comma-not
bit OUT input.0.key-compose
bit OUT input.0.key-compose-not
bit OUT input.0.key-d F9
bit OUT input.0.key-d-not
bit OUT input.0.key-delete
bit OUT input.0.key-delete-not
bit OUT input.0.key-dot
bit OUT input.0.key-dot-not
bit OUT input.0.key-down Pad left
bit OUT input.0.key-down-not
bit OUT input.0.key-e F4
bit OUT input.0.key-e-not
bit OUT input.0.key-end
bit OUT input.0.key-end-not
bit OUT input.0.key-enter
bit OUT input.0.key-enter-not
bit OUT input.0.key-equal
bit OUT input.0.key-equal-not
bit OUT input.0.key-esc
bit OUT input.0.key-esc-not
bit OUT input.0.key-f F10
bit OUT input.0.key-f-not
bit OUT input.0.key-f1
bit OUT input.0.key-f1-not
bit OUT input.0.key-f10
bit OUT input.0.key-f10-not
bit OUT input.0.key-f11
bit OUT input.0.key-f11-not
bit OUT input.0.key-f12
bit OUT input.0.key-f12-not
bit OUT input.0.key-f2
bit OUT input.0.key-f2-not
bit OUT input.0.key-f3
bit OUT input.0.key-f3-not
bit OUT input.0.key-f4
bit OUT input.0.key-f4-not
bit OUT input.0.key-f5
bit OUT input.0.key-f5-not
bit OUT input.0.key-f6
bit OUT input.0.key-f6-not
bit OUT input.0.key-f7
bit OUT input.0.key-f7-not
bit OUT input.0.key-f8
bit OUT input.0.key-f8-not
bit OUT input.0.key-f9
bit OUT input.0.key-f9-not
bit OUT input.0.key-g
bit OUT input.0.key-g-not
bit OUT input.0.key-grave
bit OUT input.0.key-grave-not
bit OUT input.0.key-h
bit OUT input.0.key-h-not
bit OUT input.0.key-home
bit OUT input.0.key-home-not
bit OUT input.0.key-i
bit OUT input.0.key-i-not
bit OUT input.0.key-insert
bit OUT input.0.key-insert-not
bit OUT input.0.key-j
bit OUT input.0.key-j-not
bit OUT input.0.key-k
bit OUT input.0.key-k-not
bit OUT input.0.key-kp0
bit OUT input.0.key-kp0-not
bit OUT input.0.key-kp1
bit OUT input.0.key-kp1-not
bit OUT input.0.key-kp2
bit OUT input.0.key-kp2-not
bit OUT input.0.key-kp3
bit OUT input.0.key-kp3-not
bit OUT input.0.key-kp4
bit OUT input.0.key-kp4-not
bit OUT input.0.key-kp5
bit OUT input.0.key-kp5-not
bit OUT input.0.key-kp6
bit OUT input.0.key-kp6-not
bit OUT input.0.key-kp7
bit OUT input.0.key-kp7-not
bit OUT input.0.key-kp8
bit OUT input.0.key-kp8-not
bit OUT input.0.key-kp9
bit OUT input.0.key-kp9-not
bit OUT input.0.key-kpasterisk
bit OUT input.0.key-kpasterisk-not
bit OUT input.0.key-kpdot
bit OUT input.0.key-kpdot-not
bit OUT input.0.key-kpenter
bit OUT input.0.key-kpenter-not
bit OUT input.0.key-kpminus
bit OUT input.0.key-kpminus-not
bit OUT input.0.key-kpplus
bit OUT input.0.key-kpplus-not
bit OUT input.0.key-kpslash
bit OUT input.0.key-kpslash-not
bit OUT input.0.key-l
bit OUT input.0.key-l-not
bit OUT input.0.key-left Pad top
bit OUT input.0.key-left-not
bit OUT input.0.key-leftalt Orange button
bit OUT input.0.key-leftalt-not
bit OUT input.0.key-leftbrace
bit OUT input.0.key-leftbrace-not
bit OUT input.0.key-leftctrl
bit OUT input.0.key-leftctrl-not
bit OUT input.0.key-leftmeta
bit OUT input.0.key-leftmeta-not
bit OUT input.0.key-leftshift F11
bit OUT input.0.key-leftshift-not
bit OUT input.0.key-m
bit OUT input.0.key-m-not
bit OUT input.0.key-minus
bit OUT input.0.key-minus-not
bit OUT input.0.key-n
bit OUT input.0.key-n-not
bit OUT input.0.key-numlock
bit OUT input.0.key-numlock-not
bit OUT input.0.key-o
bit OUT input.0.key-o-not
bit OUT input.0.key-p
bit OUT input.0.key-p-not
bit OUT input.0.key-pagedown
bit OUT input.0.key-pagedown-not
bit OUT input.0.key-pageup
bit OUT input.0.key-pageup-not
bit OUT input.0.key-pause
bit OUT input.0.key-pause-not
bit OUT input.0.key-q F2
bit OUT input.0.key-q-not
bit OUT input.0.key-r F5
bit OUT input.0.key-r-not
bit OUT input.0.key-right Pad bottom
bit OUT input.0.key-right-not
bit OUT input.0.key-rightalt
bit OUT input.0.key-rightalt-not
bit OUT input.0.key-rightbrace
bit OUT input.0.key-rightbrace-not
bit OUT input.0.key-rightctrl
bit OUT input.0.key-rightctrl-not
bit OUT input.0.key-rightmeta
bit OUT input.0.key-rightmeta-not
bit OUT input.0.key-rightshift
bit OUT input.0.key-rightshift-not
bit OUT input.0.key-s F8
bit OUT input.0.key-s-not
bit OUT input.0.key-scrolllock
bit OUT input.0.key-scrolllock-not
bit OUT input.0.key-semicolon
bit OUT input.0.key-semicolon-not
bit OUT input.0.key-slash
bit OUT input.0.key-slash-not
bit OUT input.0.key-space F15
bit OUT input.0.key-space-not
bit OUT input.0.key-sysrq
bit OUT input.0.key-sysrq-not
bit OUT input.0.key-t
bit OUT input.0.key-t-not
bit OUT input.0.key-tab F1
bit OUT input.0.key-tab-not
bit OUT input.0.key-u
bit OUT input.0.key-u-not
bit OUT input.0.key-up Pad right
bit OUT input.0.key-up-not
bit OUT input.0.key-v
bit OUT input.0.key-v-not
bit OUT input.0.key-w F3
bit OUT input.0.key-w-not
bit OUT input.0.key-x F13
bit OUT input.0.key-x-not
bit OUT input.0.key-y
bit OUT input.0.key-y-not
bit OUT input.0.key-z F12
bit OUT input.0.key-z-not
bit OUT input.1.btn-middle Wheel press
bit OUT input.1.btn-middle-not  … inverted
bit OUT input.1.btn-mouse
bit OUT input.1.btn-mouse-not
bit OUT input.1.btn-right
bit OUT input.1.btn-right-not
bit IN input.1.led-capsl Green LED
bit IN input.1.led-capsl-invert
bit IN input.1.led-numl Red LED
bit IN input.1.led-numl-invert
bit IN input.1.led-scrolll Blue LED
bit IN input.1.led-scrolll-invert
s32 OUT input.1.rel-wheel-counts Scroll wheel
float OUT input.1.rel-wheel-position  =count/scale
bit IN input.1.rel-wheel-reset Clear pos’n
float IN input.1.rel-wheel-scale  count→pos’n
s32 OUT input.1.rel-x-counts
float OUT input.1.rel-x-position
bit IN input.1.rel-x-reset
float IN input.1.rel-x-scale
s32 OUT input.1.rel-y-counts
float OUT input.1.rel-y-position
bit IN input.1.rel-y-reset
float IN input.1.rel-y-scale
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