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/smp_lock.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 struct class *phantom_class; 42 static int phantom_major; 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 lock_kernel(); 219 nonseekable_open(inode, file); 220 221 if (mutex_lock_interruptible(&dev->open_lock)) { 222 unlock_kernel(); 223 return -ERESTARTSYS; 224 } 225 226 if (dev->opened) { 227 mutex_unlock(&dev->open_lock); 228 unlock_kernel(); 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 unlock_kernel(); 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 unsigned int phantom_poll(struct file *file, poll_table *wait) 259 { 260 struct phantom_device *dev = file->private_data; 261 unsigned int 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 = POLLERR; 268 else if (atomic_read(&dev->counter)) 269 mask = POLLIN | POLLRDNORM; 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 __devinit 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 __devinit 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 goto err; 347 348 minor = phantom_get_free(); 349 if (minor == PHANTOM_MAX_MINORS) { 350 dev_err(&pdev->dev, "too many devices found!\n"); 351 retval = -EIO; 352 goto err_dis; 353 } 354 355 phantom_devices[minor] = 1; 356 357 retval = pci_request_regions(pdev, "phantom"); 358 if (retval) 359 goto err_null; 360 361 retval = -ENOMEM; 362 pht = kzalloc(sizeof(*pht), GFP_KERNEL); 363 if (pht == NULL) { 364 dev_err(&pdev->dev, "unable to allocate device\n"); 365 goto err_reg; 366 } 367 368 pht->caddr = pci_iomap(pdev, 0, 0); 369 if (pht->caddr == NULL) { 370 dev_err(&pdev->dev, "can't remap conf space\n"); 371 goto err_fr; 372 } 373 pht->iaddr = pci_iomap(pdev, 2, 0); 374 if (pht->iaddr == NULL) { 375 dev_err(&pdev->dev, "can't remap input space\n"); 376 goto err_unmc; 377 } 378 pht->oaddr = pci_iomap(pdev, 3, 0); 379 if (pht->oaddr == NULL) { 380 dev_err(&pdev->dev, "can't remap output space\n"); 381 goto err_unmi; 382 } 383 384 mutex_init(&pht->open_lock); 385 spin_lock_init(&pht->regs_lock); 386 init_waitqueue_head(&pht->wait); 387 cdev_init(&pht->cdev, &phantom_file_ops); 388 pht->cdev.owner = THIS_MODULE; 389 390 iowrite32(0, pht->caddr + PHN_IRQCTL); 391 ioread32(pht->caddr + PHN_IRQCTL); /* PCI posting */ 392 retval = request_irq(pdev->irq, phantom_isr, 393 IRQF_SHARED | IRQF_DISABLED, "phantom", pht); 394 if (retval) { 395 dev_err(&pdev->dev, "can't establish ISR\n"); 396 goto err_unmo; 397 } 398 399 retval = cdev_add(&pht->cdev, MKDEV(phantom_major, minor), 1); 400 if (retval) { 401 dev_err(&pdev->dev, "chardev registration failed\n"); 402 goto err_irq; 403 } 404 405 if (IS_ERR(device_create(phantom_class, &pdev->dev, 406 MKDEV(phantom_major, minor), NULL, 407 "phantom%u", minor))) 408 dev_err(&pdev->dev, "can't create device\n"); 409 410 pci_set_drvdata(pdev, pht); 411 412 return 0; 413 err_irq: 414 free_irq(pdev->irq, pht); 415 err_unmo: 416 pci_iounmap(pdev, pht->oaddr); 417 err_unmi: 418 pci_iounmap(pdev, pht->iaddr); 419 err_unmc: 420 pci_iounmap(pdev, pht->caddr); 421 err_fr: 422 kfree(pht); 423 err_reg: 424 pci_release_regions(pdev); 425 err_null: 426 phantom_devices[minor] = 0; 427 err_dis: 428 pci_disable_device(pdev); 429 err: 430 return retval; 431 } 432 433 static void __devexit phantom_remove(struct pci_dev *pdev) 434 { 435 struct phantom_device *pht = pci_get_drvdata(pdev); 436 unsigned int minor = MINOR(pht->cdev.dev); 437 438 device_destroy(phantom_class, MKDEV(phantom_major, minor)); 439 440 cdev_del(&pht->cdev); 441 442 iowrite32(0, pht->caddr + PHN_IRQCTL); 443 ioread32(pht->caddr + PHN_IRQCTL); /* PCI posting */ 444 free_irq(pdev->irq, pht); 445 446 pci_iounmap(pdev, pht->oaddr); 447 pci_iounmap(pdev, pht->iaddr); 448 pci_iounmap(pdev, pht->caddr); 449 450 kfree(pht); 451 452 pci_release_regions(pdev); 453 454 phantom_devices[minor] = 0; 455 456 pci_disable_device(pdev); 457 } 458 459 #ifdef CONFIG_PM 460 static int phantom_suspend(struct pci_dev *pdev, pm_message_t state) 461 { 462 struct phantom_device *dev = pci_get_drvdata(pdev); 463 464 iowrite32(0, dev->caddr + PHN_IRQCTL); 465 ioread32(dev->caddr + PHN_IRQCTL); /* PCI posting */ 466 467 synchronize_irq(pdev->irq); 468 469 return 0; 470 } 471 472 static int phantom_resume(struct pci_dev *pdev) 473 { 474 struct phantom_device *dev = pci_get_drvdata(pdev); 475 476 iowrite32(0, dev->caddr + PHN_IRQCTL); 477 478 return 0; 479 } 480 #else 481 #define phantom_suspend NULL 482 #define phantom_resume NULL 483 #endif 484 485 static struct pci_device_id phantom_pci_tbl[] __devinitdata = { 486 { .vendor = PCI_VENDOR_ID_PLX, .device = PCI_DEVICE_ID_PLX_9050, 487 .subvendor = PCI_VENDOR_ID_PLX, .subdevice = PCI_DEVICE_ID_PLX_9050, 488 .class = PCI_CLASS_BRIDGE_OTHER << 8, .class_mask = 0xffff00 }, 489 { 0, } 490 }; 491 MODULE_DEVICE_TABLE(pci, phantom_pci_tbl); 492 493 static struct pci_driver phantom_pci_driver = { 494 .name = "phantom", 495 .id_table = phantom_pci_tbl, 496 .probe = phantom_probe, 497 .remove = __devexit_p(phantom_remove), 498 .suspend = phantom_suspend, 499 .resume = phantom_resume 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 phantom_class = class_create(THIS_MODULE, "phantom"); 510 if (IS_ERR(phantom_class)) { 511 retval = PTR_ERR(phantom_class); 512 printk(KERN_ERR "phantom: can't register phantom class\n"); 513 goto err; 514 } 515 retval = class_create_file(phantom_class, &class_attr_version.attr); 516 if (retval) { 517 printk(KERN_ERR "phantom: can't create sysfs version file\n"); 518 goto err_class; 519 } 520 521 retval = alloc_chrdev_region(&dev, 0, PHANTOM_MAX_MINORS, "phantom"); 522 if (retval) { 523 printk(KERN_ERR "phantom: can't register character device\n"); 524 goto err_attr; 525 } 526 phantom_major = MAJOR(dev); 527 528 retval = pci_register_driver(&phantom_pci_driver); 529 if (retval) { 530 printk(KERN_ERR "phantom: can't register pci driver\n"); 531 goto err_unchr; 532 } 533 534 printk(KERN_INFO "Phantom Linux Driver, version " PHANTOM_VERSION ", " 535 "init OK\n"); 536 537 return 0; 538 err_unchr: 539 unregister_chrdev_region(dev, PHANTOM_MAX_MINORS); 540 err_attr: 541 class_remove_file(phantom_class, &class_attr_version.attr); 542 err_class: 543 class_destroy(phantom_class); 544 err: 545 return retval; 546 } 547 548 static void __exit phantom_exit(void) 549 { 550 pci_unregister_driver(&phantom_pci_driver); 551 552 unregister_chrdev_region(MKDEV(phantom_major, 0), PHANTOM_MAX_MINORS); 553 554 class_remove_file(phantom_class, &class_attr_version.attr); 555 class_destroy(phantom_class); 556 557 pr_debug("phantom: module successfully removed\n"); 558 } 559 560 module_init(phantom_init); 561 module_exit(phantom_exit); 562 563 MODULE_AUTHOR("Jiri Slaby <jirislaby@gmail.com>"); 564 MODULE_DESCRIPTION("Sensable Phantom driver (PCI devices)"); 565 MODULE_LICENSE("GPL"); 566 MODULE_VERSION(PHANTOM_VERSION); 567