Version:  2.0.40 2.2.26 2.4.37 2.6.39 3.0 3.1 3.2 3.3 3.4 3.5 3.6 3.7 3.8 3.9 3.10 3.11 3.12 3.13 3.14 3.15

Linux/drivers/misc/phantom.c

  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 
 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 
 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
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 
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 
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 
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 
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 
327 static unsigned int 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 
338 static int 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, "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 
438 static void 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
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 
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[] = {
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 = phantom_remove,
503         .suspend = phantom_suspend,
504         .resume = phantom_resume
505 };
506 
507 static CLASS_ATTR_STRING(version, 0444, PHANTOM_VERSION);
508 
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 
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 

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