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 }; 283 284 static irqreturn_t phantom_isr(int irq, void *data) 285 { 286 struct phantom_device *dev = data; 287 unsigned int i; 288 u32 ctl; 289 290 spin_lock(&dev->regs_lock); 291 ctl = ioread32(dev->iaddr + PHN_CONTROL); 292 if (!(ctl & PHN_CTL_IRQ)) { 293 spin_unlock(&dev->regs_lock); 294 return IRQ_NONE; 295 } 296 297 iowrite32(0, dev->iaddr); 298 iowrite32(0xc0, dev->iaddr); 299 300 if (dev->status & PHB_NOT_OH) { 301 struct phm_regs *r = &dev->oregs; 302 u32 m = min(r->count, 8U); 303 304 for (i = 0; i < m; i++) 305 if (r->mask & BIT(i)) 306 iowrite32(r->values[i], dev->oaddr + i); 307 308 dev->ctl_reg ^= PHN_CTL_AMP; 309 iowrite32(dev->ctl_reg, dev->iaddr + PHN_CONTROL); 310 } 311 spin_unlock(&dev->regs_lock); 312 313 ioread32(dev->iaddr); /* PCI posting */ 314 315 atomic_inc(&dev->counter); 316 wake_up_interruptible(&dev->wait); 317 318 return IRQ_HANDLED; 319 } 320 321 /* 322 * Init and deinit driver 323 */ 324 325 static unsigned int phantom_get_free(void) 326 { 327 unsigned int i; 328 329 for (i = 0; i < PHANTOM_MAX_MINORS; i++) 330 if (phantom_devices[i] == 0) 331 break; 332 333 return i; 334 } 335 336 static int phantom_probe(struct pci_dev *pdev, 337 const struct pci_device_id *pci_id) 338 { 339 struct phantom_device *pht; 340 unsigned int minor; 341 int retval; 342 343 retval = pci_enable_device(pdev); 344 if (retval) { 345 dev_err(&pdev->dev, "pci_enable_device failed!\n"); 346 goto err; 347 } 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 dev_err(&pdev->dev, "pci_request_regions failed!\n"); 361 goto err_null; 362 } 363 364 retval = -ENOMEM; 365 pht = kzalloc(sizeof(*pht), GFP_KERNEL); 366 if (pht == NULL) { 367 dev_err(&pdev->dev, "unable to allocate device\n"); 368 goto err_reg; 369 } 370 371 pht->caddr = pci_iomap(pdev, 0, 0); 372 if (pht->caddr == NULL) { 373 dev_err(&pdev->dev, "can't remap conf space\n"); 374 goto err_fr; 375 } 376 pht->iaddr = pci_iomap(pdev, 2, 0); 377 if (pht->iaddr == NULL) { 378 dev_err(&pdev->dev, "can't remap input space\n"); 379 goto err_unmc; 380 } 381 pht->oaddr = pci_iomap(pdev, 3, 0); 382 if (pht->oaddr == NULL) { 383 dev_err(&pdev->dev, "can't remap output space\n"); 384 goto err_unmi; 385 } 386 387 mutex_init(&pht->open_lock); 388 spin_lock_init(&pht->regs_lock); 389 init_waitqueue_head(&pht->wait); 390 cdev_init(&pht->cdev, &phantom_file_ops); 391 pht->cdev.owner = THIS_MODULE; 392 393 iowrite32(0, pht->caddr + PHN_IRQCTL); 394 ioread32(pht->caddr + PHN_IRQCTL); /* PCI posting */ 395 retval = request_irq(pdev->irq, phantom_isr, 396 IRQF_SHARED, "phantom", pht); 397 if (retval) { 398 dev_err(&pdev->dev, "can't establish ISR\n"); 399 goto err_unmo; 400 } 401 402 retval = cdev_add(&pht->cdev, MKDEV(phantom_major, minor), 1); 403 if (retval) { 404 dev_err(&pdev->dev, "chardev registration failed\n"); 405 goto err_irq; 406 } 407 408 if (IS_ERR(device_create(&phantom_class, &pdev->dev, 409 MKDEV(phantom_major, minor), NULL, 410 "phantom%u", minor))) 411 dev_err(&pdev->dev, "can't create device\n"); 412 413 pci_set_drvdata(pdev, pht); 414 415 return 0; 416 err_irq: 417 free_irq(pdev->irq, pht); 418 err_unmo: 419 pci_iounmap(pdev, pht->oaddr); 420 err_unmi: 421 pci_iounmap(pdev, pht->iaddr); 422 err_unmc: 423 pci_iounmap(pdev, pht->caddr); 424 err_fr: 425 kfree(pht); 426 err_reg: 427 pci_release_regions(pdev); 428 err_null: 429 phantom_devices[minor] = 0; 430 err_dis: 431 pci_disable_device(pdev); 432 err: 433 return retval; 434 } 435 436 static void phantom_remove(struct pci_dev *pdev) 437 { 438 struct phantom_device *pht = pci_get_drvdata(pdev); 439 unsigned int minor = MINOR(pht->cdev.dev); 440 441 device_destroy(&phantom_class, MKDEV(phantom_major, minor)); 442 443 cdev_del(&pht->cdev); 444 445 iowrite32(0, pht->caddr + PHN_IRQCTL); 446 ioread32(pht->caddr + PHN_IRQCTL); /* PCI posting */ 447 free_irq(pdev->irq, pht); 448 449 pci_iounmap(pdev, pht->oaddr); 450 pci_iounmap(pdev, pht->iaddr); 451 pci_iounmap(pdev, pht->caddr); 452 453 kfree(pht); 454 455 pci_release_regions(pdev); 456 457 phantom_devices[minor] = 0; 458 459 pci_disable_device(pdev); 460 } 461 462 static int __maybe_unused phantom_suspend(struct device *dev_d) 463 { 464 struct phantom_device *dev = dev_get_drvdata(dev_d); 465 466 iowrite32(0, dev->caddr + PHN_IRQCTL); 467 ioread32(dev->caddr + PHN_IRQCTL); /* PCI posting */ 468 469 synchronize_irq(to_pci_dev(dev_d)->irq); 470 471 return 0; 472 } 473 474 static int __maybe_unused phantom_resume(struct device *dev_d) 475 { 476 struct phantom_device *dev = dev_get_drvdata(dev_d); 477 478 iowrite32(0, dev->caddr + PHN_IRQCTL); 479 480 return 0; 481 } 482 483 static struct pci_device_id phantom_pci_tbl[] = { 484 { .vendor = PCI_VENDOR_ID_PLX, .device = PCI_DEVICE_ID_PLX_9050, 485 .subvendor = PCI_VENDOR_ID_PLX, .subdevice = PCI_DEVICE_ID_PLX_9050, 486 .class = PCI_CLASS_BRIDGE_OTHER << 8, .class_mask = 0xffff00 }, 487 { 0, } 488 }; 489 MODULE_DEVICE_TABLE(pci, phantom_pci_tbl); 490 491 static SIMPLE_DEV_PM_OPS(phantom_pm_ops, phantom_suspend, phantom_resume); 492 493 static struct pci_driver phantom_pci_driver = { 494 .name = "phantom", 495 .id_table = phantom_pci_tbl, 496 .probe = phantom_probe, 497 .remove = phantom_remove, 498 .driver.pm = &phantom_pm_ops, 499 }; 500 501 static CLASS_ATTR_STRING(version, 0444, PHANTOM_VERSION); 502 503 static int __init phantom_init(void) 504 { 505 int retval; 506 dev_t dev; 507 508 retval = class_register(&phantom_class); 509 if (retval) { 510 printk(KERN_ERR "phantom: can't register phantom class\n"); 511 goto err; 512 } 513 retval = class_create_file(&phantom_class, &class_attr_version.attr); 514 if (retval) { 515 printk(KERN_ERR "phantom: can't create sysfs version file\n"); 516 goto err_class; 517 } 518 519 retval = alloc_chrdev_region(&dev, 0, PHANTOM_MAX_MINORS, "phantom"); 520 if (retval) { 521 printk(KERN_ERR "phantom: can't register character device\n"); 522 goto err_attr; 523 } 524 phantom_major = MAJOR(dev); 525 526 retval = pci_register_driver(&phantom_pci_driver); 527 if (retval) { 528 printk(KERN_ERR "phantom: can't register pci driver\n"); 529 goto err_unchr; 530 } 531 532 printk(KERN_INFO "Phantom Linux Driver, version " PHANTOM_VERSION ", " 533 "init OK\n"); 534 535 return 0; 536 err_unchr: 537 unregister_chrdev_region(dev, PHANTOM_MAX_MINORS); 538 err_attr: 539 class_remove_file(&phantom_class, &class_attr_version.attr); 540 err_class: 541 class_unregister(&phantom_class); 542 err: 543 return retval; 544 } 545 546 static void __exit phantom_exit(void) 547 { 548 pci_unregister_driver(&phantom_pci_driver); 549 550 unregister_chrdev_region(MKDEV(phantom_major, 0), PHANTOM_MAX_MINORS); 551 552 class_remove_file(&phantom_class, &class_attr_version.attr); 553 class_unregister(&phantom_class); 554 555 pr_debug("phantom: module successfully removed\n"); 556 } 557 558 module_init(phantom_init); 559 module_exit(phantom_exit); 560 561 MODULE_AUTHOR("Jiri Slaby <jirislaby@gmail.com>"); 562 MODULE_DESCRIPTION("Sensable Phantom driver (PCI devices)"); 563 MODULE_LICENSE("GPL"); 564 MODULE_VERSION(PHANTOM_VERSION); 565