| /* |
| * 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. |
| * |
| * You need a userspace library to cooperate with this driver. It (and other |
| * info) may be obtained here: |
| * http://www.fi.muni.cz/~xslaby/phantom.html |
| * or alternatively, you might use OpenHaptics provided by Sensable. |
| */ |
| |
| #include <linux/compat.h> |
| #include <linux/kernel.h> |
| #include <linux/module.h> |
| #include <linux/device.h> |
| #include <linux/pci.h> |
| #include <linux/fs.h> |
| #include <linux/poll.h> |
| #include <linux/interrupt.h> |
| #include <linux/cdev.h> |
| #include <linux/slab.h> |
| #include <linux/phantom.h> |
| #include <linux/sched.h> |
| #include <linux/mutex.h> |
| |
| #include <asm/atomic.h> |
| #include <asm/io.h> |
| |
| #define PHANTOM_VERSION "n0.9.8" |
| |
| #define PHANTOM_MAX_MINORS 8 |
| |
| #define PHN_IRQCTL 0x4c /* irq control in caddr space */ |
| |
| #define PHB_RUNNING 1 |
| #define PHB_NOT_OH 2 |
| |
| static DEFINE_MUTEX(phantom_mutex); |
| static struct class *phantom_class; |
| static int phantom_major; |
| |
| struct phantom_device { |
| unsigned int opened; |
| void __iomem *caddr; |
| u32 __iomem *iaddr; |
| u32 __iomem *oaddr; |
| unsigned long status; |
| atomic_t counter; |
| |
| wait_queue_head_t wait; |
| struct cdev cdev; |
| |
| struct mutex open_lock; |
| spinlock_t regs_lock; |
| |
| /* used in NOT_OH mode */ |
| struct phm_regs oregs; |
| u32 ctl_reg; |
| }; |
| |
| static unsigned char phantom_devices[PHANTOM_MAX_MINORS]; |
| |
| static int phantom_status(struct phantom_device *dev, unsigned long newstat) |
| { |
| pr_debug("phantom_status %lx %lx\n", dev->status, newstat); |
| |
| if (!(dev->status & PHB_RUNNING) && (newstat & PHB_RUNNING)) { |
| atomic_set(&dev->counter, 0); |
| iowrite32(PHN_CTL_IRQ, dev->iaddr + PHN_CONTROL); |
| iowrite32(0x43, dev->caddr + PHN_IRQCTL); |
| ioread32(dev->caddr + PHN_IRQCTL); /* PCI posting */ |
| } else if ((dev->status & PHB_RUNNING) && !(newstat & PHB_RUNNING)) { |
| iowrite32(0, dev->caddr + PHN_IRQCTL); |
| ioread32(dev->caddr + PHN_IRQCTL); /* PCI posting */ |
| } |
| |
| dev->status = newstat; |
| |
| return 0; |
| } |
| |
| /* |
| * File ops |
| */ |
| |
| static long phantom_ioctl(struct file *file, unsigned int cmd, |
| unsigned long arg) |
| { |
| struct phantom_device *dev = file->private_data; |
| struct phm_regs rs; |
| struct phm_reg r; |
| void __user *argp = (void __user *)arg; |
| unsigned long flags; |
| unsigned int i; |
| |
| switch (cmd) { |
| case PHN_SETREG: |
| case PHN_SET_REG: |
| if (copy_from_user(&r, argp, sizeof(r))) |
| return -EFAULT; |
| |
| if (r.reg > 7) |
| return -EINVAL; |
| |
| spin_lock_irqsave(&dev->regs_lock, flags); |
| if (r.reg == PHN_CONTROL && (r.value & PHN_CTL_IRQ) && |
| phantom_status(dev, dev->status | PHB_RUNNING)){ |
| spin_unlock_irqrestore(&dev->regs_lock, flags); |
| return -ENODEV; |
| } |
| |
| pr_debug("phantom: writing %x to %u\n", r.value, r.reg); |
| |
| /* preserve amp bit (don't allow to change it when in NOT_OH) */ |
| if (r.reg == PHN_CONTROL && (dev->status & PHB_NOT_OH)) { |
| r.value &= ~PHN_CTL_AMP; |
| r.value |= dev->ctl_reg & PHN_CTL_AMP; |
| dev->ctl_reg = r.value; |
| } |
| |
| iowrite32(r.value, dev->iaddr + r.reg); |
| ioread32(dev->iaddr); /* PCI posting */ |
| |
| if (r.reg == PHN_CONTROL && !(r.value & PHN_CTL_IRQ)) |
| phantom_status(dev, dev->status & ~PHB_RUNNING); |
| spin_unlock_irqrestore(&dev->regs_lock, flags); |
| break; |
| case PHN_SETREGS: |
| case PHN_SET_REGS: |
| if (copy_from_user(&rs, argp, sizeof(rs))) |
| return -EFAULT; |
| |
| pr_debug("phantom: SRS %u regs %x\n", rs.count, rs.mask); |
| spin_lock_irqsave(&dev->regs_lock, flags); |
| if (dev->status & PHB_NOT_OH) |
| memcpy(&dev->oregs, &rs, sizeof(rs)); |
| else { |
| u32 m = min(rs.count, 8U); |
| for (i = 0; i < m; i++) |
| if (rs.mask & BIT(i)) |
| iowrite32(rs.values[i], dev->oaddr + i); |
| ioread32(dev->iaddr); /* PCI posting */ |
| } |
| spin_unlock_irqrestore(&dev->regs_lock, flags); |
| break; |
| case PHN_GETREG: |
| case PHN_GET_REG: |
| if (copy_from_user(&r, argp, sizeof(r))) |
| return -EFAULT; |
| |
| if (r.reg > 7) |
| return -EINVAL; |
| |
| r.value = ioread32(dev->iaddr + r.reg); |
| |
| if (copy_to_user(argp, &r, sizeof(r))) |
| return -EFAULT; |
| break; |
| case PHN_GETREGS: |
| case PHN_GET_REGS: { |
| u32 m; |
| |
| if (copy_from_user(&rs, argp, sizeof(rs))) |
| return -EFAULT; |
| |
| m = min(rs.count, 8U); |
| |
| pr_debug("phantom: GRS %u regs %x\n", rs.count, rs.mask); |
| spin_lock_irqsave(&dev->regs_lock, flags); |
| for (i = 0; i < m; i++) |
| if (rs.mask & BIT(i)) |
| rs.values[i] = ioread32(dev->iaddr + i); |
| atomic_set(&dev->counter, 0); |
| spin_unlock_irqrestore(&dev->regs_lock, flags); |
| |
| if (copy_to_user(argp, &rs, sizeof(rs))) |
| return -EFAULT; |
| break; |
| } case PHN_NOT_OH: |
| spin_lock_irqsave(&dev->regs_lock, flags); |
| if (dev->status & PHB_RUNNING) { |
| printk(KERN_ERR "phantom: you need to set NOT_OH " |
| "before you start the device!\n"); |
| spin_unlock_irqrestore(&dev->regs_lock, flags); |
| return -EINVAL; |
| } |
| dev->status |= PHB_NOT_OH; |
| spin_unlock_irqrestore(&dev->regs_lock, flags); |
| break; |
| default: |
| return -ENOTTY; |
| } |
| |
| return 0; |
| } |
| |
| #ifdef CONFIG_COMPAT |
| static long phantom_compat_ioctl(struct file *filp, unsigned int cmd, |
| unsigned long arg) |
| { |
| if (_IOC_NR(cmd) <= 3 && _IOC_SIZE(cmd) == sizeof(compat_uptr_t)) { |
| cmd &= ~(_IOC_SIZEMASK << _IOC_SIZESHIFT); |
| cmd |= sizeof(void *) << _IOC_SIZESHIFT; |
| } |
| return phantom_ioctl(filp, cmd, (unsigned long)compat_ptr(arg)); |
| } |
| #else |
| #define phantom_compat_ioctl NULL |
| #endif |
| |
| static int phantom_open(struct inode *inode, struct file *file) |
| { |
| struct phantom_device *dev = container_of(inode->i_cdev, |
| struct phantom_device, cdev); |
| |
| mutex_lock(&phantom_mutex); |
| nonseekable_open(inode, file); |
| |
| if (mutex_lock_interruptible(&dev->open_lock)) { |
| mutex_unlock(&phantom_mutex); |
| return -ERESTARTSYS; |
| } |
| |
| if (dev->opened) { |
| mutex_unlock(&dev->open_lock); |
| mutex_unlock(&phantom_mutex); |
| return -EINVAL; |
| } |
| |
| WARN_ON(dev->status & PHB_NOT_OH); |
| |
| file->private_data = dev; |
| |
| atomic_set(&dev->counter, 0); |
| dev->opened++; |
| mutex_unlock(&dev->open_lock); |
| mutex_unlock(&phantom_mutex); |
| return 0; |
| } |
| |
| static int phantom_release(struct inode *inode, struct file *file) |
| { |
| struct phantom_device *dev = file->private_data; |
| |
| mutex_lock(&dev->open_lock); |
| |
| dev->opened = 0; |
| phantom_status(dev, dev->status & ~PHB_RUNNING); |
| dev->status &= ~PHB_NOT_OH; |
| |
| mutex_unlock(&dev->open_lock); |
| |
| return 0; |
| } |
| |
| static unsigned int phantom_poll(struct file *file, poll_table *wait) |
| { |
| struct phantom_device *dev = file->private_data; |
| unsigned int mask = 0; |
| |
| pr_debug("phantom_poll: %d\n", atomic_read(&dev->counter)); |
| poll_wait(file, &dev->wait, wait); |
| |
| if (!(dev->status & PHB_RUNNING)) |
| mask = POLLERR; |
| else if (atomic_read(&dev->counter)) |
| mask = POLLIN | POLLRDNORM; |
| |
| pr_debug("phantom_poll end: %x/%d\n", mask, atomic_read(&dev->counter)); |
| |
| return mask; |
| } |
| |
| static const struct file_operations phantom_file_ops = { |
| .open = phantom_open, |
| .release = phantom_release, |
| .unlocked_ioctl = phantom_ioctl, |
| .compat_ioctl = phantom_compat_ioctl, |
| .poll = phantom_poll, |
| }; |
| |
| static irqreturn_t phantom_isr(int irq, void *data) |
| { |
| struct phantom_device *dev = data; |
| unsigned int i; |
| u32 ctl; |
| |
| spin_lock(&dev->regs_lock); |
| ctl = ioread32(dev->iaddr + PHN_CONTROL); |
| if (!(ctl & PHN_CTL_IRQ)) { |
| spin_unlock(&dev->regs_lock); |
| return IRQ_NONE; |
| } |
| |
| iowrite32(0, dev->iaddr); |
| iowrite32(0xc0, dev->iaddr); |
| |
| if (dev->status & PHB_NOT_OH) { |
| struct phm_regs *r = &dev->oregs; |
| u32 m = min(r->count, 8U); |
| |
| for (i = 0; i < m; i++) |
| if (r->mask & BIT(i)) |
| iowrite32(r->values[i], dev->oaddr + i); |
| |
| dev->ctl_reg ^= PHN_CTL_AMP; |
| iowrite32(dev->ctl_reg, dev->iaddr + PHN_CONTROL); |
| } |
| spin_unlock(&dev->regs_lock); |
| |
| ioread32(dev->iaddr); /* PCI posting */ |
| |
| atomic_inc(&dev->counter); |
| wake_up_interruptible(&dev->wait); |
| |
| return IRQ_HANDLED; |
| } |
| |
| /* |
| * Init and deinit driver |
| */ |
| |
| static unsigned int __devinit phantom_get_free(void) |
| { |
| unsigned int i; |
| |
| for (i = 0; i < PHANTOM_MAX_MINORS; i++) |
| if (phantom_devices[i] == 0) |
| break; |
| |
| return i; |
| } |
| |
| static int __devinit phantom_probe(struct pci_dev *pdev, |
| const struct pci_device_id *pci_id) |
| { |
| struct phantom_device *pht; |
| unsigned int minor; |
| int retval; |
| |
| retval = pci_enable_device(pdev); |
| if (retval) |
| goto err; |
| |
| minor = phantom_get_free(); |
| if (minor == PHANTOM_MAX_MINORS) { |
| dev_err(&pdev->dev, "too many devices found!\n"); |
| retval = -EIO; |
| goto err_dis; |
| } |
| |
| phantom_devices[minor] = 1; |
| |
| retval = pci_request_regions(pdev, "phantom"); |
| if (retval) |
| goto err_null; |
| |
| retval = -ENOMEM; |
| pht = kzalloc(sizeof(*pht), GFP_KERNEL); |
| if (pht == NULL) { |
| dev_err(&pdev->dev, "unable to allocate device\n"); |
| goto err_reg; |
| } |
| |
| pht->caddr = pci_iomap(pdev, 0, 0); |
| if (pht->caddr == NULL) { |
| dev_err(&pdev->dev, "can't remap conf space\n"); |
| goto err_fr; |
| } |
| pht->iaddr = pci_iomap(pdev, 2, 0); |
| if (pht->iaddr == NULL) { |
| dev_err(&pdev->dev, "can't remap input space\n"); |
| goto err_unmc; |
| } |
| pht->oaddr = pci_iomap(pdev, 3, 0); |
| if (pht->oaddr == NULL) { |
| dev_err(&pdev->dev, "can't remap output space\n"); |
| goto err_unmi; |
| } |
| |
| mutex_init(&pht->open_lock); |
| spin_lock_init(&pht->regs_lock); |
| init_waitqueue_head(&pht->wait); |
| cdev_init(&pht->cdev, &phantom_file_ops); |
| pht->cdev.owner = THIS_MODULE; |
| |
| iowrite32(0, pht->caddr + PHN_IRQCTL); |
| ioread32(pht->caddr + PHN_IRQCTL); /* PCI posting */ |
| retval = request_irq(pdev->irq, phantom_isr, |
| IRQF_SHARED | IRQF_DISABLED, "phantom", pht); |
| if (retval) { |
| dev_err(&pdev->dev, "can't establish ISR\n"); |
| goto err_unmo; |
| } |
| |
| retval = cdev_add(&pht->cdev, MKDEV(phantom_major, minor), 1); |
| if (retval) { |
| dev_err(&pdev->dev, "chardev registration failed\n"); |
| goto err_irq; |
| } |
| |
| if (IS_ERR(device_create(phantom_class, &pdev->dev, |
| MKDEV(phantom_major, minor), NULL, |
| "phantom%u", minor))) |
| dev_err(&pdev->dev, "can't create device\n"); |
| |
| pci_set_drvdata(pdev, pht); |
| |
| return 0; |
| err_irq: |
| free_irq(pdev->irq, pht); |
| err_unmo: |
| pci_iounmap(pdev, pht->oaddr); |
| err_unmi: |
| pci_iounmap(pdev, pht->iaddr); |
| err_unmc: |
| pci_iounmap(pdev, pht->caddr); |
| err_fr: |
| kfree(pht); |
| err_reg: |
| pci_release_regions(pdev); |
| err_null: |
| phantom_devices[minor] = 0; |
| err_dis: |
| pci_disable_device(pdev); |
| err: |
| return retval; |
| } |
| |
| static void __devexit phantom_remove(struct pci_dev *pdev) |
| { |
| struct phantom_device *pht = pci_get_drvdata(pdev); |
| unsigned int minor = MINOR(pht->cdev.dev); |
| |
| device_destroy(phantom_class, MKDEV(phantom_major, minor)); |
| |
| cdev_del(&pht->cdev); |
| |
| iowrite32(0, pht->caddr + PHN_IRQCTL); |
| ioread32(pht->caddr + PHN_IRQCTL); /* PCI posting */ |
| free_irq(pdev->irq, pht); |
| |
| pci_iounmap(pdev, pht->oaddr); |
| pci_iounmap(pdev, pht->iaddr); |
| pci_iounmap(pdev, pht->caddr); |
| |
| kfree(pht); |
| |
| pci_release_regions(pdev); |
| |
| phantom_devices[minor] = 0; |
| |
| pci_disable_device(pdev); |
| } |
| |
| #ifdef CONFIG_PM |
| static int phantom_suspend(struct pci_dev *pdev, pm_message_t state) |
| { |
| struct phantom_device *dev = pci_get_drvdata(pdev); |
| |
| iowrite32(0, dev->caddr + PHN_IRQCTL); |
| ioread32(dev->caddr + PHN_IRQCTL); /* PCI posting */ |
| |
| synchronize_irq(pdev->irq); |
| |
| return 0; |
| } |
| |
| static int phantom_resume(struct pci_dev *pdev) |
| { |
| struct phantom_device *dev = pci_get_drvdata(pdev); |
| |
| iowrite32(0, dev->caddr + PHN_IRQCTL); |
| |
| return 0; |
| } |
| #else |
| #define phantom_suspend NULL |
| #define phantom_resume NULL |
| #endif |
| |
| static struct pci_device_id phantom_pci_tbl[] __devinitdata = { |
| { .vendor = PCI_VENDOR_ID_PLX, .device = PCI_DEVICE_ID_PLX_9050, |
| .subvendor = PCI_VENDOR_ID_PLX, .subdevice = PCI_DEVICE_ID_PLX_9050, |
| .class = PCI_CLASS_BRIDGE_OTHER << 8, .class_mask = 0xffff00 }, |
| { 0, } |
| }; |
| MODULE_DEVICE_TABLE(pci, phantom_pci_tbl); |
| |
| static struct pci_driver phantom_pci_driver = { |
| .name = "phantom", |
| .id_table = phantom_pci_tbl, |
| .probe = phantom_probe, |
| .remove = __devexit_p(phantom_remove), |
| .suspend = phantom_suspend, |
| .resume = phantom_resume |
| }; |
| |
| static CLASS_ATTR_STRING(version, 0444, PHANTOM_VERSION); |
| |
| static int __init phantom_init(void) |
| { |
| int retval; |
| dev_t dev; |
| |
| phantom_class = class_create(THIS_MODULE, "phantom"); |
| if (IS_ERR(phantom_class)) { |
| retval = PTR_ERR(phantom_class); |
| printk(KERN_ERR "phantom: can't register phantom class\n"); |
| goto err; |
| } |
| retval = class_create_file(phantom_class, &class_attr_version.attr); |
| if (retval) { |
| printk(KERN_ERR "phantom: can't create sysfs version file\n"); |
| goto err_class; |
| } |
| |
| retval = alloc_chrdev_region(&dev, 0, PHANTOM_MAX_MINORS, "phantom"); |
| if (retval) { |
| printk(KERN_ERR "phantom: can't register character device\n"); |
| goto err_attr; |
| } |
| phantom_major = MAJOR(dev); |
| |
| retval = pci_register_driver(&phantom_pci_driver); |
| if (retval) { |
| printk(KERN_ERR "phantom: can't register pci driver\n"); |
| goto err_unchr; |
| } |
| |
| printk(KERN_INFO "Phantom Linux Driver, version " PHANTOM_VERSION ", " |
| "init OK\n"); |
| |
| return 0; |
| err_unchr: |
| unregister_chrdev_region(dev, PHANTOM_MAX_MINORS); |
| err_attr: |
| class_remove_file(phantom_class, &class_attr_version.attr); |
| err_class: |
| class_destroy(phantom_class); |
| err: |
| return retval; |
| } |
| |
| static void __exit phantom_exit(void) |
| { |
| pci_unregister_driver(&phantom_pci_driver); |
| |
| unregister_chrdev_region(MKDEV(phantom_major, 0), PHANTOM_MAX_MINORS); |
| |
| class_remove_file(phantom_class, &class_attr_version.attr); |
| class_destroy(phantom_class); |
| |
| pr_debug("phantom: module successfully removed\n"); |
| } |
| |
| module_init(phantom_init); |
| module_exit(phantom_exit); |
| |
| MODULE_AUTHOR("Jiri Slaby <jirislaby@gmail.com>"); |
| MODULE_DESCRIPTION("Sensable Phantom driver (PCI devices)"); |
| MODULE_LICENSE("GPL"); |
| MODULE_VERSION(PHANTOM_VERSION); |