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