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 <asm/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 __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 } 337 338 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 goto err; 348 349 minor = phantom_get_free(); 350 if (minor == PHANTOM_MAX_MINORS) { 351 dev_err(&pdev->dev, "too many devices found!\n"); 352 retval = -EIO; 353 goto err_dis; 354 } 355 356 phantom_devices[minor] = 1; 357 358 retval = pci_request_regions(pdev, "phantom"); 359 if (retval) 360 goto err_null; 361 362 retval = -ENOMEM; 363 pht = kzalloc(sizeof(*pht), GFP_KERNEL); 364 if (pht == NULL) { 365 dev_err(&pdev->dev, "unable to allocate device\n"); 366 goto err_reg; 367 } 368 369 pht->caddr = pci_iomap(pdev, 0, 0); 370 if (pht->caddr == NULL) { 371 dev_err(&pdev->dev, "can't remap conf space\n"); 372 goto err_fr; 373 } 374 pht->iaddr = pci_iomap(pdev, 2, 0); 375 if (pht->iaddr == NULL) { 376 dev_err(&pdev->dev, "can't remap input space\n"); 377 goto err_unmc; 378 } 379 pht->oaddr = pci_iomap(pdev, 3, 0); 380 if (pht->oaddr == NULL) { 381 dev_err(&pdev->dev, "can't remap output space\n"); 382 goto err_unmi; 383 } 384 385 mutex_init(&pht->open_lock); 386 spin_lock_init(&pht->regs_lock); 387 init_waitqueue_head(&pht->wait); 388 cdev_init(&pht->cdev, &phantom_file_ops); 389 pht->cdev.owner = THIS_MODULE; 390 391 iowrite32(0, pht->caddr + PHN_IRQCTL); 392 ioread32(pht->caddr + PHN_IRQCTL); /* PCI posting */ 393 retval = request_irq(pdev->irq, phantom_isr, 394 IRQF_SHARED | IRQF_DISABLED, "phantom", pht); 395 if (retval) { 396 dev_err(&pdev->dev, "can't establish ISR\n"); 397 goto err_unmo; 398 } 399 400 retval = cdev_add(&pht->cdev, MKDEV(phantom_major, minor), 1); 401 if (retval) { 402 dev_err(&pdev->dev, "chardev registration failed\n"); 403 goto err_irq; 404 } 405 406 if (IS_ERR(device_create(phantom_class, &pdev->dev, 407 MKDEV(phantom_major, minor), NULL, 408 "phantom%u", minor))) 409 dev_err(&pdev->dev, "can't create device\n"); 410 411 pci_set_drvdata(pdev, pht); 412 413 return 0; 414 err_irq: 415 free_irq(pdev->irq, pht); 416 err_unmo: 417 pci_iounmap(pdev, pht->oaddr); 418 err_unmi: 419 pci_iounmap(pdev, pht->iaddr); 420 err_unmc: 421 pci_iounmap(pdev, pht->caddr); 422 err_fr: 423 kfree(pht); 424 err_reg: 425 pci_release_regions(pdev); 426 err_null: 427 phantom_devices[minor] = 0; 428 err_dis: 429 pci_disable_device(pdev); 430 err: 431 return retval; 432 } 433 434 static void __devexit phantom_remove(struct pci_dev *pdev) 435 { 436 struct phantom_device *pht = pci_get_drvdata(pdev); 437 unsigned int minor = MINOR(pht->cdev.dev); 438 439 device_destroy(phantom_class, MKDEV(phantom_major, minor)); 440 441 cdev_del(&pht->cdev); 442 443 iowrite32(0, pht->caddr + PHN_IRQCTL); 444 ioread32(pht->caddr + PHN_IRQCTL); /* PCI posting */ 445 free_irq(pdev->irq, pht); 446 447 pci_iounmap(pdev, pht->oaddr); 448 pci_iounmap(pdev, pht->iaddr); 449 pci_iounmap(pdev, pht->caddr); 450 451 kfree(pht); 452 453 pci_release_regions(pdev); 454 455 phantom_devices[minor] = 0; 456 457 pci_disable_device(pdev); 458 } 459 460 #ifdef CONFIG_PM 461 static int phantom_suspend(struct pci_dev *pdev, pm_message_t state) 462 { 463 struct phantom_device *dev = pci_get_drvdata(pdev); 464 465 iowrite32(0, dev->caddr + PHN_IRQCTL); 466 ioread32(dev->caddr + PHN_IRQCTL); /* PCI posting */ 467 468 synchronize_irq(pdev->irq); 469 470 return 0; 471 } 472 473 static int phantom_resume(struct pci_dev *pdev) 474 { 475 struct phantom_device *dev = pci_get_drvdata(pdev); 476 477 iowrite32(0, dev->caddr + PHN_IRQCTL); 478 479 return 0; 480 } 481 #else 482 #define phantom_suspend NULL 483 #define phantom_resume NULL 484 #endif 485 486 static struct pci_device_id phantom_pci_tbl[] __devinitdata = { 487 { .vendor = PCI_VENDOR_ID_PLX, .device = PCI_DEVICE_ID_PLX_9050, 488 .subvendor = PCI_VENDOR_ID_PLX, .subdevice = PCI_DEVICE_ID_PLX_9050, 489 .class = PCI_CLASS_BRIDGE_OTHER << 8, .class_mask = 0xffff00 }, 490 { 0, } 491 }; 492 MODULE_DEVICE_TABLE(pci, phantom_pci_tbl); 493 494 static struct pci_driver phantom_pci_driver = { 495 .name = "phantom", 496 .id_table = phantom_pci_tbl, 497 .probe = phantom_probe, 498 .remove = __devexit_p(phantom_remove), 499 .suspend = phantom_suspend, 500 .resume = phantom_resume 501 }; 502 503 static CLASS_ATTR_STRING(version, 0444, PHANTOM_VERSION); 504 505 static int __init phantom_init(void) 506 { 507 int retval; 508 dev_t dev; 509 510 phantom_class = class_create(THIS_MODULE, "phantom"); 511 if (IS_ERR(phantom_class)) { 512 retval = PTR_ERR(phantom_class); 513 printk(KERN_ERR "phantom: can't register phantom class\n"); 514 goto err; 515 } 516 retval = class_create_file(phantom_class, &class_attr_version.attr); 517 if (retval) { 518 printk(KERN_ERR "phantom: can't create sysfs version file\n"); 519 goto err_class; 520 } 521 522 retval = alloc_chrdev_region(&dev, 0, PHANTOM_MAX_MINORS, "phantom"); 523 if (retval) { 524 printk(KERN_ERR "phantom: can't register character device\n"); 525 goto err_attr; 526 } 527 phantom_major = MAJOR(dev); 528 529 retval = pci_register_driver(&phantom_pci_driver); 530 if (retval) { 531 printk(KERN_ERR "phantom: can't register pci driver\n"); 532 goto err_unchr; 533 } 534 535 printk(KERN_INFO "Phantom Linux Driver, version " PHANTOM_VERSION ", " 536 "init OK\n"); 537 538 return 0; 539 err_unchr: 540 unregister_chrdev_region(dev, PHANTOM_MAX_MINORS); 541 err_attr: 542 class_remove_file(phantom_class, &class_attr_version.attr); 543 err_class: 544 class_destroy(phantom_class); 545 err: 546 return retval; 547 } 548 549 static void __exit phantom_exit(void) 550 { 551 pci_unregister_driver(&phantom_pci_driver); 552 553 unregister_chrdev_region(MKDEV(phantom_major, 0), PHANTOM_MAX_MINORS); 554 555 class_remove_file(phantom_class, &class_attr_version.attr); 556 class_destroy(phantom_class); 557 558 pr_debug("phantom: module successfully removed\n"); 559 } 560 561 module_init(phantom_init); 562 module_exit(phantom_exit); 563 564 MODULE_AUTHOR("Jiri Slaby <jirislaby@gmail.com>"); 565 MODULE_DESCRIPTION("Sensable Phantom driver (PCI devices)"); 566 MODULE_LICENSE("GPL"); 567 MODULE_VERSION(PHANTOM_VERSION); 568