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 * You need a userspace library to cooperate with this driver. It (and other
10 * info) may be obtained here:
11 * http://www.fi.muni.cz/~xslaby/phantom.html
12 * or alternatively, you might use OpenHaptics provided by Sensable.
13 */
14
15 #include <linux/compat.h>
16 #include <linux/kernel.h>
17 #include <linux/module.h>
18 #include <linux/device.h>
19 #include <linux/pci.h>
20 #include <linux/fs.h>
21 #include <linux/poll.h>
22 #include <linux/interrupt.h>
23 #include <linux/cdev.h>
24 #include <linux/slab.h>
25 #include <linux/phantom.h>
26 #include <linux/sched.h>
27 #include <linux/mutex.h>
28
29 #include <linux/atomic.h>
30 #include <asm/io.h>
31
32 #define PHANTOM_VERSION "n0.9.8"
33
34 #define PHANTOM_MAX_MINORS 8
35
36 #define PHN_IRQCTL 0x4c /* irq control in caddr space */
37
38 #define PHB_RUNNING 1
39 #define PHB_NOT_OH 2
40
41 static DEFINE_MUTEX(phantom_mutex);
42 static struct class *phantom_class;
43 static int phantom_major;
44
45 struct phantom_device {
46 unsigned int opened;
47 void __iomem *caddr;
48 u32 __iomem *iaddr;
49 u32 __iomem *oaddr;
50 unsigned long status;
51 atomic_t counter;
52
53 wait_queue_head_t wait;
54 struct cdev cdev;
55
56 struct mutex open_lock;
57 spinlock_t regs_lock;
58
59 /* used in NOT_OH mode */
60 struct phm_regs oregs;
61 u32 ctl_reg;
62 };
63
64 static unsigned char phantom_devices[PHANTOM_MAX_MINORS];
65
phantom_status(struct phantom_device * dev,unsigned long newstat)66 static int phantom_status(struct phantom_device *dev, unsigned long newstat)
67 {
68 pr_debug("phantom_status %lx %lx\n", dev->status, newstat);
69
70 if (!(dev->status & PHB_RUNNING) && (newstat & PHB_RUNNING)) {
71 atomic_set(&dev->counter, 0);
72 iowrite32(PHN_CTL_IRQ, dev->iaddr + PHN_CONTROL);
73 iowrite32(0x43, dev->caddr + PHN_IRQCTL);
74 ioread32(dev->caddr + PHN_IRQCTL); /* PCI posting */
75 } else if ((dev->status & PHB_RUNNING) && !(newstat & PHB_RUNNING)) {
76 iowrite32(0, dev->caddr + PHN_IRQCTL);
77 ioread32(dev->caddr + PHN_IRQCTL); /* PCI posting */
78 }
79
80 dev->status = newstat;
81
82 return 0;
83 }
84
85 /*
86 * File ops
87 */
88
phantom_ioctl(struct file * file,unsigned int cmd,unsigned long arg)89 static long phantom_ioctl(struct file *file, unsigned int cmd,
90 unsigned long arg)
91 {
92 struct phantom_device *dev = file->private_data;
93 struct phm_regs rs;
94 struct phm_reg r;
95 void __user *argp = (void __user *)arg;
96 unsigned long flags;
97 unsigned int i;
98
99 switch (cmd) {
100 case PHN_SETREG:
101 case PHN_SET_REG:
102 if (copy_from_user(&r, argp, sizeof(r)))
103 return -EFAULT;
104
105 if (r.reg > 7)
106 return -EINVAL;
107
108 spin_lock_irqsave(&dev->regs_lock, flags);
109 if (r.reg == PHN_CONTROL && (r.value & PHN_CTL_IRQ) &&
110 phantom_status(dev, dev->status | PHB_RUNNING)){
111 spin_unlock_irqrestore(&dev->regs_lock, flags);
112 return -ENODEV;
113 }
114
115 pr_debug("phantom: writing %x to %u\n", r.value, r.reg);
116
117 /* preserve amp bit (don't allow to change it when in NOT_OH) */
118 if (r.reg == PHN_CONTROL && (dev->status & PHB_NOT_OH)) {
119 r.value &= ~PHN_CTL_AMP;
120 r.value |= dev->ctl_reg & PHN_CTL_AMP;
121 dev->ctl_reg = r.value;
122 }
123
124 iowrite32(r.value, dev->iaddr + r.reg);
125 ioread32(dev->iaddr); /* PCI posting */
126
127 if (r.reg == PHN_CONTROL && !(r.value & PHN_CTL_IRQ))
128 phantom_status(dev, dev->status & ~PHB_RUNNING);
129 spin_unlock_irqrestore(&dev->regs_lock, flags);
130 break;
131 case PHN_SETREGS:
132 case PHN_SET_REGS:
133 if (copy_from_user(&rs, argp, sizeof(rs)))
134 return -EFAULT;
135
136 pr_debug("phantom: SRS %u regs %x\n", rs.count, rs.mask);
137 spin_lock_irqsave(&dev->regs_lock, flags);
138 if (dev->status & PHB_NOT_OH)
139 memcpy(&dev->oregs, &rs, sizeof(rs));
140 else {
141 u32 m = min(rs.count, 8U);
142 for (i = 0; i < m; i++)
143 if (rs.mask & BIT(i))
144 iowrite32(rs.values[i], dev->oaddr + i);
145 ioread32(dev->iaddr); /* PCI posting */
146 }
147 spin_unlock_irqrestore(&dev->regs_lock, flags);
148 break;
149 case PHN_GETREG:
150 case PHN_GET_REG:
151 if (copy_from_user(&r, argp, sizeof(r)))
152 return -EFAULT;
153
154 if (r.reg > 7)
155 return -EINVAL;
156
157 r.value = ioread32(dev->iaddr + r.reg);
158
159 if (copy_to_user(argp, &r, sizeof(r)))
160 return -EFAULT;
161 break;
162 case PHN_GETREGS:
163 case PHN_GET_REGS: {
164 u32 m;
165
166 if (copy_from_user(&rs, argp, sizeof(rs)))
167 return -EFAULT;
168
169 m = min(rs.count, 8U);
170
171 pr_debug("phantom: GRS %u regs %x\n", rs.count, rs.mask);
172 spin_lock_irqsave(&dev->regs_lock, flags);
173 for (i = 0; i < m; i++)
174 if (rs.mask & BIT(i))
175 rs.values[i] = ioread32(dev->iaddr + i);
176 atomic_set(&dev->counter, 0);
177 spin_unlock_irqrestore(&dev->regs_lock, flags);
178
179 if (copy_to_user(argp, &rs, sizeof(rs)))
180 return -EFAULT;
181 break;
182 } case PHN_NOT_OH:
183 spin_lock_irqsave(&dev->regs_lock, flags);
184 if (dev->status & PHB_RUNNING) {
185 printk(KERN_ERR "phantom: you need to set NOT_OH "
186 "before you start the device!\n");
187 spin_unlock_irqrestore(&dev->regs_lock, flags);
188 return -EINVAL;
189 }
190 dev->status |= PHB_NOT_OH;
191 spin_unlock_irqrestore(&dev->regs_lock, flags);
192 break;
193 default:
194 return -ENOTTY;
195 }
196
197 return 0;
198 }
199
200 #ifdef CONFIG_COMPAT
phantom_compat_ioctl(struct file * filp,unsigned int cmd,unsigned long arg)201 static long phantom_compat_ioctl(struct file *filp, unsigned int cmd,
202 unsigned long arg)
203 {
204 if (_IOC_NR(cmd) <= 3 && _IOC_SIZE(cmd) == sizeof(compat_uptr_t)) {
205 cmd &= ~(_IOC_SIZEMASK << _IOC_SIZESHIFT);
206 cmd |= sizeof(void *) << _IOC_SIZESHIFT;
207 }
208 return phantom_ioctl(filp, cmd, (unsigned long)compat_ptr(arg));
209 }
210 #else
211 #define phantom_compat_ioctl NULL
212 #endif
213
phantom_open(struct inode * inode,struct file * file)214 static int phantom_open(struct inode *inode, struct file *file)
215 {
216 struct phantom_device *dev = container_of(inode->i_cdev,
217 struct phantom_device, cdev);
218
219 mutex_lock(&phantom_mutex);
220 nonseekable_open(inode, file);
221
222 if (mutex_lock_interruptible(&dev->open_lock)) {
223 mutex_unlock(&phantom_mutex);
224 return -ERESTARTSYS;
225 }
226
227 if (dev->opened) {
228 mutex_unlock(&dev->open_lock);
229 mutex_unlock(&phantom_mutex);
230 return -EINVAL;
231 }
232
233 WARN_ON(dev->status & PHB_NOT_OH);
234
235 file->private_data = dev;
236
237 atomic_set(&dev->counter, 0);
238 dev->opened++;
239 mutex_unlock(&dev->open_lock);
240 mutex_unlock(&phantom_mutex);
241 return 0;
242 }
243
phantom_release(struct inode * inode,struct file * file)244 static int phantom_release(struct inode *inode, struct file *file)
245 {
246 struct phantom_device *dev = file->private_data;
247
248 mutex_lock(&dev->open_lock);
249
250 dev->opened = 0;
251 phantom_status(dev, dev->status & ~PHB_RUNNING);
252 dev->status &= ~PHB_NOT_OH;
253
254 mutex_unlock(&dev->open_lock);
255
256 return 0;
257 }
258
phantom_poll(struct file * file,poll_table * wait)259 static unsigned int phantom_poll(struct file *file, poll_table *wait)
260 {
261 struct phantom_device *dev = file->private_data;
262 unsigned int mask = 0;
263
264 pr_debug("phantom_poll: %d\n", atomic_read(&dev->counter));
265 poll_wait(file, &dev->wait, wait);
266
267 if (!(dev->status & PHB_RUNNING))
268 mask = POLLERR;
269 else if (atomic_read(&dev->counter))
270 mask = POLLIN | POLLRDNORM;
271
272 pr_debug("phantom_poll end: %x/%d\n", mask, atomic_read(&dev->counter));
273
274 return mask;
275 }
276
277 static const struct file_operations phantom_file_ops = {
278 .open = phantom_open,
279 .release = phantom_release,
280 .unlocked_ioctl = phantom_ioctl,
281 .compat_ioctl = phantom_compat_ioctl,
282 .poll = phantom_poll,
283 .llseek = no_llseek,
284 };
285
phantom_isr(int irq,void * data)286 static irqreturn_t phantom_isr(int irq, void *data)
287 {
288 struct phantom_device *dev = data;
289 unsigned int i;
290 u32 ctl;
291
292 spin_lock(&dev->regs_lock);
293 ctl = ioread32(dev->iaddr + PHN_CONTROL);
294 if (!(ctl & PHN_CTL_IRQ)) {
295 spin_unlock(&dev->regs_lock);
296 return IRQ_NONE;
297 }
298
299 iowrite32(0, dev->iaddr);
300 iowrite32(0xc0, dev->iaddr);
301
302 if (dev->status & PHB_NOT_OH) {
303 struct phm_regs *r = &dev->oregs;
304 u32 m = min(r->count, 8U);
305
306 for (i = 0; i < m; i++)
307 if (r->mask & BIT(i))
308 iowrite32(r->values[i], dev->oaddr + i);
309
310 dev->ctl_reg ^= PHN_CTL_AMP;
311 iowrite32(dev->ctl_reg, dev->iaddr + PHN_CONTROL);
312 }
313 spin_unlock(&dev->regs_lock);
314
315 ioread32(dev->iaddr); /* PCI posting */
316
317 atomic_inc(&dev->counter);
318 wake_up_interruptible(&dev->wait);
319
320 return IRQ_HANDLED;
321 }
322
323 /*
324 * Init and deinit driver
325 */
326
phantom_get_free(void)327 static unsigned int __devinit phantom_get_free(void)
328 {
329 unsigned int i;
330
331 for (i = 0; i < PHANTOM_MAX_MINORS; i++)
332 if (phantom_devices[i] == 0)
333 break;
334
335 return i;
336 }
337
phantom_probe(struct pci_dev * pdev,const struct pci_device_id * pci_id)338 static int __devinit phantom_probe(struct pci_dev *pdev,
339 const struct pci_device_id *pci_id)
340 {
341 struct phantom_device *pht;
342 unsigned int minor;
343 int retval;
344
345 retval = pci_enable_device(pdev);
346 if (retval) {
347 dev_err(&pdev->dev, "pci_enable_device failed!\n");
348 goto err;
349 }
350
351 minor = phantom_get_free();
352 if (minor == PHANTOM_MAX_MINORS) {
353 dev_err(&pdev->dev, "too many devices found!\n");
354 retval = -EIO;
355 goto err_dis;
356 }
357
358 phantom_devices[minor] = 1;
359
360 retval = pci_request_regions(pdev, "phantom");
361 if (retval) {
362 dev_err(&pdev->dev, "pci_request_regions failed!\n");
363 goto err_null;
364 }
365
366 retval = -ENOMEM;
367 pht = kzalloc(sizeof(*pht), GFP_KERNEL);
368 if (pht == NULL) {
369 dev_err(&pdev->dev, "unable to allocate device\n");
370 goto err_reg;
371 }
372
373 pht->caddr = pci_iomap(pdev, 0, 0);
374 if (pht->caddr == NULL) {
375 dev_err(&pdev->dev, "can't remap conf space\n");
376 goto err_fr;
377 }
378 pht->iaddr = pci_iomap(pdev, 2, 0);
379 if (pht->iaddr == NULL) {
380 dev_err(&pdev->dev, "can't remap input space\n");
381 goto err_unmc;
382 }
383 pht->oaddr = pci_iomap(pdev, 3, 0);
384 if (pht->oaddr == NULL) {
385 dev_err(&pdev->dev, "can't remap output space\n");
386 goto err_unmi;
387 }
388
389 mutex_init(&pht->open_lock);
390 spin_lock_init(&pht->regs_lock);
391 init_waitqueue_head(&pht->wait);
392 cdev_init(&pht->cdev, &phantom_file_ops);
393 pht->cdev.owner = THIS_MODULE;
394
395 iowrite32(0, pht->caddr + PHN_IRQCTL);
396 ioread32(pht->caddr + PHN_IRQCTL); /* PCI posting */
397 retval = request_irq(pdev->irq, phantom_isr,
398 IRQF_SHARED | IRQF_DISABLED, "phantom", pht);
399 if (retval) {
400 dev_err(&pdev->dev, "can't establish ISR\n");
401 goto err_unmo;
402 }
403
404 retval = cdev_add(&pht->cdev, MKDEV(phantom_major, minor), 1);
405 if (retval) {
406 dev_err(&pdev->dev, "chardev registration failed\n");
407 goto err_irq;
408 }
409
410 if (IS_ERR(device_create(phantom_class, &pdev->dev,
411 MKDEV(phantom_major, minor), NULL,
412 "phantom%u", minor)))
413 dev_err(&pdev->dev, "can't create device\n");
414
415 pci_set_drvdata(pdev, pht);
416
417 return 0;
418 err_irq:
419 free_irq(pdev->irq, pht);
420 err_unmo:
421 pci_iounmap(pdev, pht->oaddr);
422 err_unmi:
423 pci_iounmap(pdev, pht->iaddr);
424 err_unmc:
425 pci_iounmap(pdev, pht->caddr);
426 err_fr:
427 kfree(pht);
428 err_reg:
429 pci_release_regions(pdev);
430 err_null:
431 phantom_devices[minor] = 0;
432 err_dis:
433 pci_disable_device(pdev);
434 err:
435 return retval;
436 }
437
phantom_remove(struct pci_dev * pdev)438 static void __devexit phantom_remove(struct pci_dev *pdev)
439 {
440 struct phantom_device *pht = pci_get_drvdata(pdev);
441 unsigned int minor = MINOR(pht->cdev.dev);
442
443 device_destroy(phantom_class, MKDEV(phantom_major, minor));
444
445 cdev_del(&pht->cdev);
446
447 iowrite32(0, pht->caddr + PHN_IRQCTL);
448 ioread32(pht->caddr + PHN_IRQCTL); /* PCI posting */
449 free_irq(pdev->irq, pht);
450
451 pci_iounmap(pdev, pht->oaddr);
452 pci_iounmap(pdev, pht->iaddr);
453 pci_iounmap(pdev, pht->caddr);
454
455 kfree(pht);
456
457 pci_release_regions(pdev);
458
459 phantom_devices[minor] = 0;
460
461 pci_disable_device(pdev);
462 }
463
464 #ifdef CONFIG_PM
phantom_suspend(struct pci_dev * pdev,pm_message_t state)465 static int phantom_suspend(struct pci_dev *pdev, pm_message_t state)
466 {
467 struct phantom_device *dev = pci_get_drvdata(pdev);
468
469 iowrite32(0, dev->caddr + PHN_IRQCTL);
470 ioread32(dev->caddr + PHN_IRQCTL); /* PCI posting */
471
472 synchronize_irq(pdev->irq);
473
474 return 0;
475 }
476
phantom_resume(struct pci_dev * pdev)477 static int phantom_resume(struct pci_dev *pdev)
478 {
479 struct phantom_device *dev = pci_get_drvdata(pdev);
480
481 iowrite32(0, dev->caddr + PHN_IRQCTL);
482
483 return 0;
484 }
485 #else
486 #define phantom_suspend NULL
487 #define phantom_resume NULL
488 #endif
489
490 static struct pci_device_id phantom_pci_tbl[] __devinitdata = {
491 { .vendor = PCI_VENDOR_ID_PLX, .device = PCI_DEVICE_ID_PLX_9050,
492 .subvendor = PCI_VENDOR_ID_PLX, .subdevice = PCI_DEVICE_ID_PLX_9050,
493 .class = PCI_CLASS_BRIDGE_OTHER << 8, .class_mask = 0xffff00 },
494 { 0, }
495 };
496 MODULE_DEVICE_TABLE(pci, phantom_pci_tbl);
497
498 static struct pci_driver phantom_pci_driver = {
499 .name = "phantom",
500 .id_table = phantom_pci_tbl,
501 .probe = phantom_probe,
502 .remove = __devexit_p(phantom_remove),
503 .suspend = phantom_suspend,
504 .resume = phantom_resume
505 };
506
507 static CLASS_ATTR_STRING(version, 0444, PHANTOM_VERSION);
508
phantom_init(void)509 static int __init phantom_init(void)
510 {
511 int retval;
512 dev_t dev;
513
514 phantom_class = class_create(THIS_MODULE, "phantom");
515 if (IS_ERR(phantom_class)) {
516 retval = PTR_ERR(phantom_class);
517 printk(KERN_ERR "phantom: can't register phantom class\n");
518 goto err;
519 }
520 retval = class_create_file(phantom_class, &class_attr_version.attr);
521 if (retval) {
522 printk(KERN_ERR "phantom: can't create sysfs version file\n");
523 goto err_class;
524 }
525
526 retval = alloc_chrdev_region(&dev, 0, PHANTOM_MAX_MINORS, "phantom");
527 if (retval) {
528 printk(KERN_ERR "phantom: can't register character device\n");
529 goto err_attr;
530 }
531 phantom_major = MAJOR(dev);
532
533 retval = pci_register_driver(&phantom_pci_driver);
534 if (retval) {
535 printk(KERN_ERR "phantom: can't register pci driver\n");
536 goto err_unchr;
537 }
538
539 printk(KERN_INFO "Phantom Linux Driver, version " PHANTOM_VERSION ", "
540 "init OK\n");
541
542 return 0;
543 err_unchr:
544 unregister_chrdev_region(dev, PHANTOM_MAX_MINORS);
545 err_attr:
546 class_remove_file(phantom_class, &class_attr_version.attr);
547 err_class:
548 class_destroy(phantom_class);
549 err:
550 return retval;
551 }
552
phantom_exit(void)553 static void __exit phantom_exit(void)
554 {
555 pci_unregister_driver(&phantom_pci_driver);
556
557 unregister_chrdev_region(MKDEV(phantom_major, 0), PHANTOM_MAX_MINORS);
558
559 class_remove_file(phantom_class, &class_attr_version.attr);
560 class_destroy(phantom_class);
561
562 pr_debug("phantom: module successfully removed\n");
563 }
564
565 module_init(phantom_init);
566 module_exit(phantom_exit);
567
568 MODULE_AUTHOR("Jiri Slaby <jirislaby@gmail.com>");
569 MODULE_DESCRIPTION("Sensable Phantom driver (PCI devices)");
570 MODULE_LICENSE("GPL");
571 MODULE_VERSION(PHANTOM_VERSION);
572