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/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/phantom.h> 25 #include <linux/smp_lock.h> 26 27 #include <asm/atomic.h> 28 #include <asm/io.h> 29 30 #define PHANTOM_VERSION "n0.9.8" 31 32 #define PHANTOM_MAX_MINORS 8 33 34 #define PHN_IRQCTL 0x4c /* irq control in caddr space */ 35 36 #define PHB_RUNNING 1 37 #define PHB_NOT_OH 2 38 39 static struct class *phantom_class; 40 static int phantom_major; 41 42 struct phantom_device { 43 unsigned int opened; 44 void __iomem *caddr; 45 u32 __iomem *iaddr; 46 u32 __iomem *oaddr; 47 unsigned long status; 48 atomic_t counter; 49 50 wait_queue_head_t wait; 51 struct cdev cdev; 52 53 struct mutex open_lock; 54 spinlock_t regs_lock; 55 56 /* used in NOT_OH mode */ 57 struct phm_regs oregs; 58 u32 ctl_reg; 59 }; 60 61 static unsigned char phantom_devices[PHANTOM_MAX_MINORS]; 62 63 static int phantom_status(struct phantom_device *dev, unsigned long newstat) 64 { 65 pr_debug("phantom_status %lx %lx\n", dev->status, newstat); 66 67 if (!(dev->status & PHB_RUNNING) && (newstat & PHB_RUNNING)) { 68 atomic_set(&dev->counter, 0); 69 iowrite32(PHN_CTL_IRQ, dev->iaddr + PHN_CONTROL); 70 iowrite32(0x43, dev->caddr + PHN_IRQCTL); 71 ioread32(dev->caddr + PHN_IRQCTL); /* PCI posting */ 72 } else if ((dev->status & PHB_RUNNING) && !(newstat & PHB_RUNNING)) { 73 iowrite32(0, dev->caddr + PHN_IRQCTL); 74 ioread32(dev->caddr + PHN_IRQCTL); /* PCI posting */ 75 } 76 77 dev->status = newstat; 78 79 return 0; 80 } 81 82 /* 83 * File ops 84 */ 85 86 static long phantom_ioctl(struct file *file, unsigned int cmd, 87 unsigned long arg) 88 { 89 struct phantom_device *dev = file->private_data; 90 struct phm_regs rs; 91 struct phm_reg r; 92 void __user *argp = (void __user *)arg; 93 unsigned long flags; 94 unsigned int i; 95 96 switch (cmd) { 97 case PHN_SETREG: 98 case PHN_SET_REG: 99 if (copy_from_user(&r, argp, sizeof(r))) 100 return -EFAULT; 101 102 if (r.reg > 7) 103 return -EINVAL; 104 105 spin_lock_irqsave(&dev->regs_lock, flags); 106 if (r.reg == PHN_CONTROL && (r.value & PHN_CTL_IRQ) && 107 phantom_status(dev, dev->status | PHB_RUNNING)){ 108 spin_unlock_irqrestore(&dev->regs_lock, flags); 109 return -ENODEV; 110 } 111 112 pr_debug("phantom: writing %x to %u\n", r.value, r.reg); 113 114 /* preserve amp bit (don't allow to change it when in NOT_OH) */ 115 if (r.reg == PHN_CONTROL && (dev->status & PHB_NOT_OH)) { 116 r.value &= ~PHN_CTL_AMP; 117 r.value |= dev->ctl_reg & PHN_CTL_AMP; 118 dev->ctl_reg = r.value; 119 } 120 121 iowrite32(r.value, dev->iaddr + r.reg); 122 ioread32(dev->iaddr); /* PCI posting */ 123 124 if (r.reg == PHN_CONTROL && !(r.value & PHN_CTL_IRQ)) 125 phantom_status(dev, dev->status & ~PHB_RUNNING); 126 spin_unlock_irqrestore(&dev->regs_lock, flags); 127 break; 128 case PHN_SETREGS: 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_GETREG: 147 case PHN_GET_REG: 148 if (copy_from_user(&r, argp, sizeof(r))) 149 return -EFAULT; 150 151 if (r.reg > 7) 152 return -EINVAL; 153 154 r.value = ioread32(dev->iaddr + r.reg); 155 156 if (copy_to_user(argp, &r, sizeof(r))) 157 return -EFAULT; 158 break; 159 case PHN_GETREGS: 160 case PHN_GET_REGS: { 161 u32 m; 162 163 if (copy_from_user(&rs, argp, sizeof(rs))) 164 return -EFAULT; 165 166 m = min(rs.count, 8U); 167 168 pr_debug("phantom: GRS %u regs %x\n", rs.count, rs.mask); 169 spin_lock_irqsave(&dev->regs_lock, flags); 170 for (i = 0; i < m; i++) 171 if (rs.mask & BIT(i)) 172 rs.values[i] = ioread32(dev->iaddr + i); 173 atomic_set(&dev->counter, 0); 174 spin_unlock_irqrestore(&dev->regs_lock, flags); 175 176 if (copy_to_user(argp, &rs, sizeof(rs))) 177 return -EFAULT; 178 break; 179 } case PHN_NOT_OH: 180 spin_lock_irqsave(&dev->regs_lock, flags); 181 if (dev->status & PHB_RUNNING) { 182 printk(KERN_ERR "phantom: you need to set NOT_OH " 183 "before you start the device!\n"); 184 spin_unlock_irqrestore(&dev->regs_lock, flags); 185 return -EINVAL; 186 } 187 dev->status |= PHB_NOT_OH; 188 spin_unlock_irqrestore(&dev->regs_lock, flags); 189 break; 190 default: 191 return -ENOTTY; 192 } 193 194 return 0; 195 } 196 197 #ifdef CONFIG_COMPAT 198 static long phantom_compat_ioctl(struct file *filp, unsigned int cmd, 199 unsigned long arg) 200 { 201 if (_IOC_NR(cmd) <= 3 && _IOC_SIZE(cmd) == sizeof(compat_uptr_t)) { 202 cmd &= ~(_IOC_SIZEMASK << _IOC_SIZESHIFT); 203 cmd |= sizeof(void *) << _IOC_SIZESHIFT; 204 } 205 return phantom_ioctl(filp, cmd, (unsigned long)compat_ptr(arg)); 206 } 207 #else 208 #define phantom_compat_ioctl NULL 209 #endif 210 211 static int phantom_open(struct inode *inode, struct file *file) 212 { 213 struct phantom_device *dev = container_of(inode->i_cdev, 214 struct phantom_device, cdev); 215 216 lock_kernel(); 217 nonseekable_open(inode, file); 218 219 if (mutex_lock_interruptible(&dev->open_lock)) { 220 unlock_kernel(); 221 return -ERESTARTSYS; 222 } 223 224 if (dev->opened) { 225 mutex_unlock(&dev->open_lock); 226 unlock_kernel(); 227 return -EINVAL; 228 } 229 230 WARN_ON(dev->status & PHB_NOT_OH); 231 232 file->private_data = dev; 233 234 atomic_set(&dev->counter, 0); 235 dev->opened++; 236 mutex_unlock(&dev->open_lock); 237 unlock_kernel(); 238 return 0; 239 } 240 241 static int phantom_release(struct inode *inode, struct file *file) 242 { 243 struct phantom_device *dev = file->private_data; 244 245 mutex_lock(&dev->open_lock); 246 247 dev->opened = 0; 248 phantom_status(dev, dev->status & ~PHB_RUNNING); 249 dev->status &= ~PHB_NOT_OH; 250 251 mutex_unlock(&dev->open_lock); 252 253 return 0; 254 } 255 256 static unsigned int phantom_poll(struct file *file, poll_table *wait) 257 { 258 struct phantom_device *dev = file->private_data; 259 unsigned int mask = 0; 260 261 pr_debug("phantom_poll: %d\n", atomic_read(&dev->counter)); 262 poll_wait(file, &dev->wait, wait); 263 264 if (!(dev->status & PHB_RUNNING)) 265 mask = POLLERR; 266 else if (atomic_read(&dev->counter)) 267 mask = POLLIN | POLLRDNORM; 268 269 pr_debug("phantom_poll end: %x/%d\n", mask, atomic_read(&dev->counter)); 270 271 return mask; 272 } 273 274 static struct file_operations phantom_file_ops = { 275 .open = phantom_open, 276 .release = phantom_release, 277 .unlocked_ioctl = phantom_ioctl, 278 .compat_ioctl = phantom_compat_ioctl, 279 .poll = phantom_poll, 280 }; 281 282 static irqreturn_t phantom_isr(int irq, void *data) 283 { 284 struct phantom_device *dev = data; 285 unsigned int i; 286 u32 ctl; 287 288 spin_lock(&dev->regs_lock); 289 ctl = ioread32(dev->iaddr + PHN_CONTROL); 290 if (!(ctl & PHN_CTL_IRQ)) { 291 spin_unlock(&dev->regs_lock); 292 return IRQ_NONE; 293 } 294 295 iowrite32(0, dev->iaddr); 296 iowrite32(0xc0, dev->iaddr); 297 298 if (dev->status & PHB_NOT_OH) { 299 struct phm_regs *r = &dev->oregs; 300 u32 m = min(r->count, 8U); 301 302 for (i = 0; i < m; i++) 303 if (r->mask & BIT(i)) 304 iowrite32(r->values[i], dev->oaddr + i); 305 306 dev->ctl_reg ^= PHN_CTL_AMP; 307 iowrite32(dev->ctl_reg, dev->iaddr + PHN_CONTROL); 308 } 309 spin_unlock(&dev->regs_lock); 310 311 ioread32(dev->iaddr); /* PCI posting */ 312 313 atomic_inc(&dev->counter); 314 wake_up_interruptible(&dev->wait); 315 316 return IRQ_HANDLED; 317 } 318 319 /* 320 * Init and deinit driver 321 */ 322 323 static unsigned int __devinit phantom_get_free(void) 324 { 325 unsigned int i; 326 327 for (i = 0; i < PHANTOM_MAX_MINORS; i++) 328 if (phantom_devices[i] == 0) 329 break; 330 331 return i; 332 } 333 334 static int __devinit phantom_probe(struct pci_dev *pdev, 335 const struct pci_device_id *pci_id) 336 { 337 struct phantom_device *pht; 338 unsigned int minor; 339 int retval; 340 341 retval = pci_enable_device(pdev); 342 if (retval) 343 goto err; 344 345 minor = phantom_get_free(); 346 if (minor == PHANTOM_MAX_MINORS) { 347 dev_err(&pdev->dev, "too many devices found!\n"); 348 retval = -EIO; 349 goto err_dis; 350 } 351 352 phantom_devices[minor] = 1; 353 354 retval = pci_request_regions(pdev, "phantom"); 355 if (retval) 356 goto err_null; 357 358 retval = -ENOMEM; 359 pht = kzalloc(sizeof(*pht), GFP_KERNEL); 360 if (pht == NULL) { 361 dev_err(&pdev->dev, "unable to allocate device\n"); 362 goto err_reg; 363 } 364 365 pht->caddr = pci_iomap(pdev, 0, 0); 366 if (pht->caddr == NULL) { 367 dev_err(&pdev->dev, "can't remap conf space\n"); 368 goto err_fr; 369 } 370 pht->iaddr = pci_iomap(pdev, 2, 0); 371 if (pht->iaddr == NULL) { 372 dev_err(&pdev->dev, "can't remap input space\n"); 373 goto err_unmc; 374 } 375 pht->oaddr = pci_iomap(pdev, 3, 0); 376 if (pht->oaddr == NULL) { 377 dev_err(&pdev->dev, "can't remap output space\n"); 378 goto err_unmi; 379 } 380 381 mutex_init(&pht->open_lock); 382 spin_lock_init(&pht->regs_lock); 383 init_waitqueue_head(&pht->wait); 384 cdev_init(&pht->cdev, &phantom_file_ops); 385 pht->cdev.owner = THIS_MODULE; 386 387 iowrite32(0, pht->caddr + PHN_IRQCTL); 388 ioread32(pht->caddr + PHN_IRQCTL); /* PCI posting */ 389 retval = request_irq(pdev->irq, phantom_isr, 390 IRQF_SHARED | IRQF_DISABLED, "phantom", pht); 391 if (retval) { 392 dev_err(&pdev->dev, "can't establish ISR\n"); 393 goto err_unmo; 394 } 395 396 retval = cdev_add(&pht->cdev, MKDEV(phantom_major, minor), 1); 397 if (retval) { 398 dev_err(&pdev->dev, "chardev registration failed\n"); 399 goto err_irq; 400 } 401 402 if (IS_ERR(device_create_drvdata(phantom_class, &pdev->dev, 403 MKDEV(phantom_major, minor), 404 NULL, "phantom%u", minor))) 405 dev_err(&pdev->dev, "can't create device\n"); 406 407 pci_set_drvdata(pdev, pht); 408 409 return 0; 410 err_irq: 411 free_irq(pdev->irq, pht); 412 err_unmo: 413 pci_iounmap(pdev, pht->oaddr); 414 err_unmi: 415 pci_iounmap(pdev, pht->iaddr); 416 err_unmc: 417 pci_iounmap(pdev, pht->caddr); 418 err_fr: 419 kfree(pht); 420 err_reg: 421 pci_release_regions(pdev); 422 err_null: 423 phantom_devices[minor] = 0; 424 err_dis: 425 pci_disable_device(pdev); 426 err: 427 return retval; 428 } 429 430 static void __devexit phantom_remove(struct pci_dev *pdev) 431 { 432 struct phantom_device *pht = pci_get_drvdata(pdev); 433 unsigned int minor = MINOR(pht->cdev.dev); 434 435 device_destroy(phantom_class, MKDEV(phantom_major, minor)); 436 437 cdev_del(&pht->cdev); 438 439 iowrite32(0, pht->caddr + PHN_IRQCTL); 440 ioread32(pht->caddr + PHN_IRQCTL); /* PCI posting */ 441 free_irq(pdev->irq, pht); 442 443 pci_iounmap(pdev, pht->oaddr); 444 pci_iounmap(pdev, pht->iaddr); 445 pci_iounmap(pdev, pht->caddr); 446 447 kfree(pht); 448 449 pci_release_regions(pdev); 450 451 phantom_devices[minor] = 0; 452 453 pci_disable_device(pdev); 454 } 455 456 #ifdef CONFIG_PM 457 static int phantom_suspend(struct pci_dev *pdev, pm_message_t state) 458 { 459 struct phantom_device *dev = pci_get_drvdata(pdev); 460 461 iowrite32(0, dev->caddr + PHN_IRQCTL); 462 ioread32(dev->caddr + PHN_IRQCTL); /* PCI posting */ 463 464 synchronize_irq(pdev->irq); 465 466 return 0; 467 } 468 469 static int phantom_resume(struct pci_dev *pdev) 470 { 471 struct phantom_device *dev = pci_get_drvdata(pdev); 472 473 iowrite32(0, dev->caddr + PHN_IRQCTL); 474 475 return 0; 476 } 477 #else 478 #define phantom_suspend NULL 479 #define phantom_resume NULL 480 #endif 481 482 static struct pci_device_id phantom_pci_tbl[] __devinitdata = { 483 { .vendor = PCI_VENDOR_ID_PLX, .device = PCI_DEVICE_ID_PLX_9050, 484 .subvendor = PCI_VENDOR_ID_PLX, .subdevice = PCI_DEVICE_ID_PLX_9050, 485 .class = PCI_CLASS_BRIDGE_OTHER << 8, .class_mask = 0xffff00 }, 486 { 0, } 487 }; 488 MODULE_DEVICE_TABLE(pci, phantom_pci_tbl); 489 490 static struct pci_driver phantom_pci_driver = { 491 .name = "phantom", 492 .id_table = phantom_pci_tbl, 493 .probe = phantom_probe, 494 .remove = __devexit_p(phantom_remove), 495 .suspend = phantom_suspend, 496 .resume = phantom_resume 497 }; 498 499 static ssize_t phantom_show_version(struct class *cls, char *buf) 500 { 501 return sprintf(buf, PHANTOM_VERSION "\n"); 502 } 503 504 static CLASS_ATTR(version, 0444, phantom_show_version, NULL); 505 506 static int __init phantom_init(void) 507 { 508 int retval; 509 dev_t dev; 510 511 phantom_class = class_create(THIS_MODULE, "phantom"); 512 if (IS_ERR(phantom_class)) { 513 retval = PTR_ERR(phantom_class); 514 printk(KERN_ERR "phantom: can't register phantom class\n"); 515 goto err; 516 } 517 retval = class_create_file(phantom_class, &class_attr_version); 518 if (retval) { 519 printk(KERN_ERR "phantom: can't create sysfs version file\n"); 520 goto err_class; 521 } 522 523 retval = alloc_chrdev_region(&dev, 0, PHANTOM_MAX_MINORS, "phantom"); 524 if (retval) { 525 printk(KERN_ERR "phantom: can't register character device\n"); 526 goto err_attr; 527 } 528 phantom_major = MAJOR(dev); 529 530 retval = pci_register_driver(&phantom_pci_driver); 531 if (retval) { 532 printk(KERN_ERR "phantom: can't register pci driver\n"); 533 goto err_unchr; 534 } 535 536 printk(KERN_INFO "Phantom Linux Driver, version " PHANTOM_VERSION ", " 537 "init OK\n"); 538 539 return 0; 540 err_unchr: 541 unregister_chrdev_region(dev, PHANTOM_MAX_MINORS); 542 err_attr: 543 class_remove_file(phantom_class, &class_attr_version); 544 err_class: 545 class_destroy(phantom_class); 546 err: 547 return retval; 548 } 549 550 static void __exit phantom_exit(void) 551 { 552 pci_unregister_driver(&phantom_pci_driver); 553 554 unregister_chrdev_region(MKDEV(phantom_major, 0), PHANTOM_MAX_MINORS); 555 556 class_remove_file(phantom_class, &class_attr_version); 557 class_destroy(phantom_class); 558 559 pr_debug("phantom: module successfully removed\n"); 560 } 561 562 module_init(phantom_init); 563 module_exit(phantom_exit); 564 565 MODULE_AUTHOR("Jiri Slaby <jirislaby@gmail.com>"); 566 MODULE_DESCRIPTION("Sensable Phantom driver (PCI devices)"); 567 MODULE_LICENSE("GPL"); 568 MODULE_VERSION(PHANTOM_VERSION); 569