1 // SPDX-License-Identifier: GPL-2.0-or-later 2 /* 3 * Copyright (C) 2005-2007 Jiri Slaby <jirislaby@gmail.com> 4 * 5 * You need a userspace library to cooperate with this driver. It (and other 6 * info) may be obtained here: 7 * http://www.fi.muni.cz/~xslaby/phantom.html 8 * or alternatively, you might use OpenHaptics provided by Sensable. 9 */ 10 11 #include <linux/compat.h> 12 #include <linux/kernel.h> 13 #include <linux/module.h> 14 #include <linux/device.h> 15 #include <linux/pci.h> 16 #include <linux/fs.h> 17 #include <linux/poll.h> 18 #include <linux/interrupt.h> 19 #include <linux/cdev.h> 20 #include <linux/slab.h> 21 #include <linux/phantom.h> 22 #include <linux/sched.h> 23 #include <linux/mutex.h> 24 25 #include <linux/atomic.h> 26 #include <asm/io.h> 27 28 #define PHANTOM_VERSION "n0.9.8" 29 30 #define PHANTOM_MAX_MINORS 8 31 32 #define PHN_IRQCTL 0x4c /* irq control in caddr space */ 33 34 #define PHB_RUNNING 1 35 #define PHB_NOT_OH 2 36 37 static DEFINE_MUTEX(phantom_mutex); 38 static int phantom_major; 39 40 static const struct class phantom_class = { 41 .name = "phantom", 42 }; 43 44 struct phantom_device { 45 unsigned int opened; 46 void __iomem *caddr; 47 u32 __iomem *iaddr; 48 u32 __iomem *oaddr; 49 unsigned long status; 50 atomic_t counter; 51 52 wait_queue_head_t wait; 53 struct cdev cdev; 54 55 struct mutex open_lock; 56 spinlock_t regs_lock; 57 58 /* used in NOT_OH mode */ 59 struct phm_regs oregs; 60 u32 ctl_reg; 61 }; 62 63 static unsigned char phantom_devices[PHANTOM_MAX_MINORS]; 64 65 static int phantom_status(struct phantom_device *dev, unsigned long newstat) 66 { 67 pr_debug("phantom_status %lx %lx\n", dev->status, newstat); 68 69 if (!(dev->status & PHB_RUNNING) && (newstat & PHB_RUNNING)) { 70 atomic_set(&dev->counter, 0); 71 iowrite32(PHN_CTL_IRQ, dev->iaddr + PHN_CONTROL); 72 iowrite32(0x43, dev->caddr + PHN_IRQCTL); 73 ioread32(dev->caddr + PHN_IRQCTL); /* PCI posting */ 74 } else if ((dev->status & PHB_RUNNING) && !(newstat & PHB_RUNNING)) { 75 iowrite32(0, dev->caddr + PHN_IRQCTL); 76 ioread32(dev->caddr + PHN_IRQCTL); /* PCI posting */ 77 } 78 79 dev->status = newstat; 80 81 return 0; 82 } 83 84 /* 85 * File ops 86 */ 87 88 static long phantom_ioctl(struct file *file, unsigned int cmd, 89 unsigned long arg) 90 { 91 struct phantom_device *dev = file->private_data; 92 struct phm_regs rs; 93 struct phm_reg r; 94 void __user *argp = (void __user *)arg; 95 unsigned long flags; 96 unsigned int i; 97 98 switch (cmd) { 99 case PHN_SETREG: 100 case PHN_SET_REG: 101 if (copy_from_user(&r, argp, sizeof(r))) 102 return -EFAULT; 103 104 if (r.reg > 7) 105 return -EINVAL; 106 107 spin_lock_irqsave(&dev->regs_lock, flags); 108 if (r.reg == PHN_CONTROL && (r.value & PHN_CTL_IRQ) && 109 phantom_status(dev, dev->status | PHB_RUNNING)){ 110 spin_unlock_irqrestore(&dev->regs_lock, flags); 111 return -ENODEV; 112 } 113 114 pr_debug("phantom: writing %x to %u\n", r.value, r.reg); 115 116 /* preserve amp bit (don't allow to change it when in NOT_OH) */ 117 if (r.reg == PHN_CONTROL && (dev->status & PHB_NOT_OH)) { 118 r.value &= ~PHN_CTL_AMP; 119 r.value |= dev->ctl_reg & PHN_CTL_AMP; 120 dev->ctl_reg = r.value; 121 } 122 123 iowrite32(r.value, dev->iaddr + r.reg); 124 ioread32(dev->iaddr); /* PCI posting */ 125 126 if (r.reg == PHN_CONTROL && !(r.value & PHN_CTL_IRQ)) 127 phantom_status(dev, dev->status & ~PHB_RUNNING); 128 spin_unlock_irqrestore(&dev->regs_lock, flags); 129 break; 130 case PHN_SETREGS: 131 case PHN_SET_REGS: 132 if (copy_from_user(&rs, argp, sizeof(rs))) 133 return -EFAULT; 134 135 pr_debug("phantom: SRS %u regs %x\n", rs.count, rs.mask); 136 spin_lock_irqsave(&dev->regs_lock, flags); 137 if (dev->status & PHB_NOT_OH) 138 memcpy(&dev->oregs, &rs, sizeof(rs)); 139 else { 140 u32 m = min(rs.count, 8U); 141 for (i = 0; i < m; i++) 142 if (rs.mask & BIT(i)) 143 iowrite32(rs.values[i], dev->oaddr + i); 144 ioread32(dev->iaddr); /* PCI posting */ 145 } 146 spin_unlock_irqrestore(&dev->regs_lock, flags); 147 break; 148 case PHN_GETREG: 149 case PHN_GET_REG: 150 if (copy_from_user(&r, argp, sizeof(r))) 151 return -EFAULT; 152 153 if (r.reg > 7) 154 return -EINVAL; 155 156 r.value = ioread32(dev->iaddr + r.reg); 157 158 if (copy_to_user(argp, &r, sizeof(r))) 159 return -EFAULT; 160 break; 161 case PHN_GETREGS: 162 case PHN_GET_REGS: { 163 u32 m; 164 165 if (copy_from_user(&rs, argp, sizeof(rs))) 166 return -EFAULT; 167 168 m = min(rs.count, 8U); 169 170 pr_debug("phantom: GRS %u regs %x\n", rs.count, rs.mask); 171 spin_lock_irqsave(&dev->regs_lock, flags); 172 for (i = 0; i < m; i++) 173 if (rs.mask & BIT(i)) 174 rs.values[i] = ioread32(dev->iaddr + i); 175 atomic_set(&dev->counter, 0); 176 spin_unlock_irqrestore(&dev->regs_lock, flags); 177 178 if (copy_to_user(argp, &rs, sizeof(rs))) 179 return -EFAULT; 180 break; 181 } case PHN_NOT_OH: 182 spin_lock_irqsave(&dev->regs_lock, flags); 183 if (dev->status & PHB_RUNNING) { 184 printk(KERN_ERR "phantom: you need to set NOT_OH " 185 "before you start the device!\n"); 186 spin_unlock_irqrestore(&dev->regs_lock, flags); 187 return -EINVAL; 188 } 189 dev->status |= PHB_NOT_OH; 190 spin_unlock_irqrestore(&dev->regs_lock, flags); 191 break; 192 default: 193 return -ENOTTY; 194 } 195 196 return 0; 197 } 198 199 #ifdef CONFIG_COMPAT 200 static long phantom_compat_ioctl(struct file *filp, unsigned int cmd, 201 unsigned long arg) 202 { 203 if (_IOC_NR(cmd) <= 3 && _IOC_SIZE(cmd) == sizeof(compat_uptr_t)) { 204 cmd &= ~(_IOC_SIZEMASK << _IOC_SIZESHIFT); 205 cmd |= sizeof(void *) << _IOC_SIZESHIFT; 206 } 207 return phantom_ioctl(filp, cmd, (unsigned long)compat_ptr(arg)); 208 } 209 #else 210 #define phantom_compat_ioctl NULL 211 #endif 212 213 static int phantom_open(struct inode *inode, struct file *file) 214 { 215 struct phantom_device *dev = container_of(inode->i_cdev, 216 struct phantom_device, cdev); 217 218 mutex_lock(&phantom_mutex); 219 nonseekable_open(inode, file); 220 221 if (mutex_lock_interruptible(&dev->open_lock)) { 222 mutex_unlock(&phantom_mutex); 223 return -ERESTARTSYS; 224 } 225 226 if (dev->opened) { 227 mutex_unlock(&dev->open_lock); 228 mutex_unlock(&phantom_mutex); 229 return -EINVAL; 230 } 231 232 WARN_ON(dev->status & PHB_NOT_OH); 233 234 file->private_data = dev; 235 236 atomic_set(&dev->counter, 0); 237 dev->opened++; 238 mutex_unlock(&dev->open_lock); 239 mutex_unlock(&phantom_mutex); 240 return 0; 241 } 242 243 static int phantom_release(struct inode *inode, struct file *file) 244 { 245 struct phantom_device *dev = file->private_data; 246 247 mutex_lock(&dev->open_lock); 248 249 dev->opened = 0; 250 phantom_status(dev, dev->status & ~PHB_RUNNING); 251 dev->status &= ~PHB_NOT_OH; 252 253 mutex_unlock(&dev->open_lock); 254 255 return 0; 256 } 257 258 static __poll_t phantom_poll(struct file *file, poll_table *wait) 259 { 260 struct phantom_device *dev = file->private_data; 261 __poll_t mask = 0; 262 263 pr_debug("phantom_poll: %d\n", atomic_read(&dev->counter)); 264 poll_wait(file, &dev->wait, wait); 265 266 if (!(dev->status & PHB_RUNNING)) 267 mask = EPOLLERR; 268 else if (atomic_read(&dev->counter)) 269 mask = EPOLLIN | EPOLLRDNORM; 270 271 pr_debug("phantom_poll end: %x/%d\n", mask, atomic_read(&dev->counter)); 272 273 return mask; 274 } 275 276 static const struct file_operations phantom_file_ops = { 277 .open = phantom_open, 278 .release = phantom_release, 279 .unlocked_ioctl = phantom_ioctl, 280 .compat_ioctl = phantom_compat_ioctl, 281 .poll = phantom_poll, 282 .llseek = no_llseek, 283 }; 284 285 static irqreturn_t phantom_isr(int irq, void *data) 286 { 287 struct phantom_device *dev = data; 288 unsigned int i; 289 u32 ctl; 290 291 spin_lock(&dev->regs_lock); 292 ctl = ioread32(dev->iaddr + PHN_CONTROL); 293 if (!(ctl & PHN_CTL_IRQ)) { 294 spin_unlock(&dev->regs_lock); 295 return IRQ_NONE; 296 } 297 298 iowrite32(0, dev->iaddr); 299 iowrite32(0xc0, dev->iaddr); 300 301 if (dev->status & PHB_NOT_OH) { 302 struct phm_regs *r = &dev->oregs; 303 u32 m = min(r->count, 8U); 304 305 for (i = 0; i < m; i++) 306 if (r->mask & BIT(i)) 307 iowrite32(r->values[i], dev->oaddr + i); 308 309 dev->ctl_reg ^= PHN_CTL_AMP; 310 iowrite32(dev->ctl_reg, dev->iaddr + PHN_CONTROL); 311 } 312 spin_unlock(&dev->regs_lock); 313 314 ioread32(dev->iaddr); /* PCI posting */ 315 316 atomic_inc(&dev->counter); 317 wake_up_interruptible(&dev->wait); 318 319 return IRQ_HANDLED; 320 } 321 322 /* 323 * Init and deinit driver 324 */ 325 326 static unsigned int phantom_get_free(void) 327 { 328 unsigned int i; 329 330 for (i = 0; i < PHANTOM_MAX_MINORS; i++) 331 if (phantom_devices[i] == 0) 332 break; 333 334 return i; 335 } 336 337 static int phantom_probe(struct pci_dev *pdev, 338 const struct pci_device_id *pci_id) 339 { 340 struct phantom_device *pht; 341 unsigned int minor; 342 int retval; 343 344 retval = pci_enable_device(pdev); 345 if (retval) { 346 dev_err(&pdev->dev, "pci_enable_device failed!\n"); 347 goto err; 348 } 349 350 minor = phantom_get_free(); 351 if (minor == PHANTOM_MAX_MINORS) { 352 dev_err(&pdev->dev, "too many devices found!\n"); 353 retval = -EIO; 354 goto err_dis; 355 } 356 357 phantom_devices[minor] = 1; 358 359 retval = pci_request_regions(pdev, "phantom"); 360 if (retval) { 361 dev_err(&pdev->dev, "pci_request_regions failed!\n"); 362 goto err_null; 363 } 364 365 retval = -ENOMEM; 366 pht = kzalloc(sizeof(*pht), GFP_KERNEL); 367 if (pht == NULL) { 368 dev_err(&pdev->dev, "unable to allocate device\n"); 369 goto err_reg; 370 } 371 372 pht->caddr = pci_iomap(pdev, 0, 0); 373 if (pht->caddr == NULL) { 374 dev_err(&pdev->dev, "can't remap conf space\n"); 375 goto err_fr; 376 } 377 pht->iaddr = pci_iomap(pdev, 2, 0); 378 if (pht->iaddr == NULL) { 379 dev_err(&pdev->dev, "can't remap input space\n"); 380 goto err_unmc; 381 } 382 pht->oaddr = pci_iomap(pdev, 3, 0); 383 if (pht->oaddr == NULL) { 384 dev_err(&pdev->dev, "can't remap output space\n"); 385 goto err_unmi; 386 } 387 388 mutex_init(&pht->open_lock); 389 spin_lock_init(&pht->regs_lock); 390 init_waitqueue_head(&pht->wait); 391 cdev_init(&pht->cdev, &phantom_file_ops); 392 pht->cdev.owner = THIS_MODULE; 393 394 iowrite32(0, pht->caddr + PHN_IRQCTL); 395 ioread32(pht->caddr + PHN_IRQCTL); /* PCI posting */ 396 retval = request_irq(pdev->irq, phantom_isr, 397 IRQF_SHARED, "phantom", pht); 398 if (retval) { 399 dev_err(&pdev->dev, "can't establish ISR\n"); 400 goto err_unmo; 401 } 402 403 retval = cdev_add(&pht->cdev, MKDEV(phantom_major, minor), 1); 404 if (retval) { 405 dev_err(&pdev->dev, "chardev registration failed\n"); 406 goto err_irq; 407 } 408 409 if (IS_ERR(device_create(&phantom_class, &pdev->dev, 410 MKDEV(phantom_major, minor), NULL, 411 "phantom%u", minor))) 412 dev_err(&pdev->dev, "can't create device\n"); 413 414 pci_set_drvdata(pdev, pht); 415 416 return 0; 417 err_irq: 418 free_irq(pdev->irq, pht); 419 err_unmo: 420 pci_iounmap(pdev, pht->oaddr); 421 err_unmi: 422 pci_iounmap(pdev, pht->iaddr); 423 err_unmc: 424 pci_iounmap(pdev, pht->caddr); 425 err_fr: 426 kfree(pht); 427 err_reg: 428 pci_release_regions(pdev); 429 err_null: 430 phantom_devices[minor] = 0; 431 err_dis: 432 pci_disable_device(pdev); 433 err: 434 return retval; 435 } 436 437 static void phantom_remove(struct pci_dev *pdev) 438 { 439 struct phantom_device *pht = pci_get_drvdata(pdev); 440 unsigned int minor = MINOR(pht->cdev.dev); 441 442 device_destroy(&phantom_class, MKDEV(phantom_major, minor)); 443 444 cdev_del(&pht->cdev); 445 446 iowrite32(0, pht->caddr + PHN_IRQCTL); 447 ioread32(pht->caddr + PHN_IRQCTL); /* PCI posting */ 448 free_irq(pdev->irq, pht); 449 450 pci_iounmap(pdev, pht->oaddr); 451 pci_iounmap(pdev, pht->iaddr); 452 pci_iounmap(pdev, pht->caddr); 453 454 kfree(pht); 455 456 pci_release_regions(pdev); 457 458 phantom_devices[minor] = 0; 459 460 pci_disable_device(pdev); 461 } 462 463 static int __maybe_unused phantom_suspend(struct device *dev_d) 464 { 465 struct phantom_device *dev = dev_get_drvdata(dev_d); 466 467 iowrite32(0, dev->caddr + PHN_IRQCTL); 468 ioread32(dev->caddr + PHN_IRQCTL); /* PCI posting */ 469 470 synchronize_irq(to_pci_dev(dev_d)->irq); 471 472 return 0; 473 } 474 475 static int __maybe_unused phantom_resume(struct device *dev_d) 476 { 477 struct phantom_device *dev = dev_get_drvdata(dev_d); 478 479 iowrite32(0, dev->caddr + PHN_IRQCTL); 480 481 return 0; 482 } 483 484 static struct pci_device_id phantom_pci_tbl[] = { 485 { .vendor = PCI_VENDOR_ID_PLX, .device = PCI_DEVICE_ID_PLX_9050, 486 .subvendor = PCI_VENDOR_ID_PLX, .subdevice = PCI_DEVICE_ID_PLX_9050, 487 .class = PCI_CLASS_BRIDGE_OTHER << 8, .class_mask = 0xffff00 }, 488 { 0, } 489 }; 490 MODULE_DEVICE_TABLE(pci, phantom_pci_tbl); 491 492 static SIMPLE_DEV_PM_OPS(phantom_pm_ops, phantom_suspend, phantom_resume); 493 494 static struct pci_driver phantom_pci_driver = { 495 .name = "phantom", 496 .id_table = phantom_pci_tbl, 497 .probe = phantom_probe, 498 .remove = phantom_remove, 499 .driver.pm = &phantom_pm_ops, 500 }; 501 502 static CLASS_ATTR_STRING(version, 0444, PHANTOM_VERSION); 503 504 static int __init phantom_init(void) 505 { 506 int retval; 507 dev_t dev; 508 509 retval = class_register(&phantom_class); 510 if (retval) { 511 printk(KERN_ERR "phantom: can't register phantom class\n"); 512 goto err; 513 } 514 retval = class_create_file(&phantom_class, &class_attr_version.attr); 515 if (retval) { 516 printk(KERN_ERR "phantom: can't create sysfs version file\n"); 517 goto err_class; 518 } 519 520 retval = alloc_chrdev_region(&dev, 0, PHANTOM_MAX_MINORS, "phantom"); 521 if (retval) { 522 printk(KERN_ERR "phantom: can't register character device\n"); 523 goto err_attr; 524 } 525 phantom_major = MAJOR(dev); 526 527 retval = pci_register_driver(&phantom_pci_driver); 528 if (retval) { 529 printk(KERN_ERR "phantom: can't register pci driver\n"); 530 goto err_unchr; 531 } 532 533 printk(KERN_INFO "Phantom Linux Driver, version " PHANTOM_VERSION ", " 534 "init OK\n"); 535 536 return 0; 537 err_unchr: 538 unregister_chrdev_region(dev, PHANTOM_MAX_MINORS); 539 err_attr: 540 class_remove_file(&phantom_class, &class_attr_version.attr); 541 err_class: 542 class_unregister(&phantom_class); 543 err: 544 return retval; 545 } 546 547 static void __exit phantom_exit(void) 548 { 549 pci_unregister_driver(&phantom_pci_driver); 550 551 unregister_chrdev_region(MKDEV(phantom_major, 0), PHANTOM_MAX_MINORS); 552 553 class_remove_file(&phantom_class, &class_attr_version.attr); 554 class_unregister(&phantom_class); 555 556 pr_debug("phantom: module successfully removed\n"); 557 } 558 559 module_init(phantom_init); 560 module_exit(phantom_exit); 561 562 MODULE_AUTHOR("Jiri Slaby <jirislaby@gmail.com>"); 563 MODULE_DESCRIPTION("Sensable Phantom driver (PCI devices)"); 564 MODULE_LICENSE("GPL"); 565 MODULE_VERSION(PHANTOM_VERSION); 566