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/phantom.h> 25 #include <linux/sched.h> 26 #include <linux/smp_lock.h> 27 28 #include <asm/atomic.h> 29 #include <asm/io.h> 30 31 #define PHANTOM_VERSION "n0.9.8" 32 33 #define PHANTOM_MAX_MINORS 8 34 35 #define PHN_IRQCTL 0x4c /* irq control in caddr space */ 36 37 #define PHB_RUNNING 1 38 #define PHB_NOT_OH 2 39 40 static struct class *phantom_class; 41 static int phantom_major; 42 43 struct phantom_device { 44 unsigned int opened; 45 void __iomem *caddr; 46 u32 __iomem *iaddr; 47 u32 __iomem *oaddr; 48 unsigned long status; 49 atomic_t counter; 50 51 wait_queue_head_t wait; 52 struct cdev cdev; 53 54 struct mutex open_lock; 55 spinlock_t regs_lock; 56 57 /* used in NOT_OH mode */ 58 struct phm_regs oregs; 59 u32 ctl_reg; 60 }; 61 62 static unsigned char phantom_devices[PHANTOM_MAX_MINORS]; 63 64 static int phantom_status(struct phantom_device *dev, unsigned long newstat) 65 { 66 pr_debug("phantom_status %lx %lx\n", dev->status, newstat); 67 68 if (!(dev->status & PHB_RUNNING) && (newstat & PHB_RUNNING)) { 69 atomic_set(&dev->counter, 0); 70 iowrite32(PHN_CTL_IRQ, dev->iaddr + PHN_CONTROL); 71 iowrite32(0x43, dev->caddr + PHN_IRQCTL); 72 ioread32(dev->caddr + PHN_IRQCTL); /* PCI posting */ 73 } else if ((dev->status & PHB_RUNNING) && !(newstat & PHB_RUNNING)) { 74 iowrite32(0, dev->caddr + PHN_IRQCTL); 75 ioread32(dev->caddr + PHN_IRQCTL); /* PCI posting */ 76 } 77 78 dev->status = newstat; 79 80 return 0; 81 } 82 83 /* 84 * File ops 85 */ 86 87 static long phantom_ioctl(struct file *file, unsigned int cmd, 88 unsigned long arg) 89 { 90 struct phantom_device *dev = file->private_data; 91 struct phm_regs rs; 92 struct phm_reg r; 93 void __user *argp = (void __user *)arg; 94 unsigned long flags; 95 unsigned int i; 96 97 switch (cmd) { 98 case PHN_SETREG: 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_SETREGS: 130 case PHN_SET_REGS: 131 if (copy_from_user(&rs, argp, sizeof(rs))) 132 return -EFAULT; 133 134 pr_debug("phantom: SRS %u regs %x\n", rs.count, rs.mask); 135 spin_lock_irqsave(&dev->regs_lock, flags); 136 if (dev->status & PHB_NOT_OH) 137 memcpy(&dev->oregs, &rs, sizeof(rs)); 138 else { 139 u32 m = min(rs.count, 8U); 140 for (i = 0; i < m; i++) 141 if (rs.mask & BIT(i)) 142 iowrite32(rs.values[i], dev->oaddr + i); 143 ioread32(dev->iaddr); /* PCI posting */ 144 } 145 spin_unlock_irqrestore(&dev->regs_lock, flags); 146 break; 147 case PHN_GETREG: 148 case PHN_GET_REG: 149 if (copy_from_user(&r, argp, sizeof(r))) 150 return -EFAULT; 151 152 if (r.reg > 7) 153 return -EINVAL; 154 155 r.value = ioread32(dev->iaddr + r.reg); 156 157 if (copy_to_user(argp, &r, sizeof(r))) 158 return -EFAULT; 159 break; 160 case PHN_GETREGS: 161 case PHN_GET_REGS: { 162 u32 m; 163 164 if (copy_from_user(&rs, argp, sizeof(rs))) 165 return -EFAULT; 166 167 m = min(rs.count, 8U); 168 169 pr_debug("phantom: GRS %u regs %x\n", rs.count, rs.mask); 170 spin_lock_irqsave(&dev->regs_lock, flags); 171 for (i = 0; i < m; i++) 172 if (rs.mask & BIT(i)) 173 rs.values[i] = ioread32(dev->iaddr + i); 174 atomic_set(&dev->counter, 0); 175 spin_unlock_irqrestore(&dev->regs_lock, flags); 176 177 if (copy_to_user(argp, &rs, sizeof(rs))) 178 return -EFAULT; 179 break; 180 } case PHN_NOT_OH: 181 spin_lock_irqsave(&dev->regs_lock, flags); 182 if (dev->status & PHB_RUNNING) { 183 printk(KERN_ERR "phantom: you need to set NOT_OH " 184 "before you start the device!\n"); 185 spin_unlock_irqrestore(&dev->regs_lock, flags); 186 return -EINVAL; 187 } 188 dev->status |= PHB_NOT_OH; 189 spin_unlock_irqrestore(&dev->regs_lock, flags); 190 break; 191 default: 192 return -ENOTTY; 193 } 194 195 return 0; 196 } 197 198 #ifdef CONFIG_COMPAT 199 static long phantom_compat_ioctl(struct file *filp, unsigned int cmd, 200 unsigned long arg) 201 { 202 if (_IOC_NR(cmd) <= 3 && _IOC_SIZE(cmd) == sizeof(compat_uptr_t)) { 203 cmd &= ~(_IOC_SIZEMASK << _IOC_SIZESHIFT); 204 cmd |= sizeof(void *) << _IOC_SIZESHIFT; 205 } 206 return phantom_ioctl(filp, cmd, (unsigned long)compat_ptr(arg)); 207 } 208 #else 209 #define phantom_compat_ioctl NULL 210 #endif 211 212 static int phantom_open(struct inode *inode, struct file *file) 213 { 214 struct phantom_device *dev = container_of(inode->i_cdev, 215 struct phantom_device, cdev); 216 217 lock_kernel(); 218 nonseekable_open(inode, file); 219 220 if (mutex_lock_interruptible(&dev->open_lock)) { 221 unlock_kernel(); 222 return -ERESTARTSYS; 223 } 224 225 if (dev->opened) { 226 mutex_unlock(&dev->open_lock); 227 unlock_kernel(); 228 return -EINVAL; 229 } 230 231 WARN_ON(dev->status & PHB_NOT_OH); 232 233 file->private_data = dev; 234 235 atomic_set(&dev->counter, 0); 236 dev->opened++; 237 mutex_unlock(&dev->open_lock); 238 unlock_kernel(); 239 return 0; 240 } 241 242 static int phantom_release(struct inode *inode, struct file *file) 243 { 244 struct phantom_device *dev = file->private_data; 245 246 mutex_lock(&dev->open_lock); 247 248 dev->opened = 0; 249 phantom_status(dev, dev->status & ~PHB_RUNNING); 250 dev->status &= ~PHB_NOT_OH; 251 252 mutex_unlock(&dev->open_lock); 253 254 return 0; 255 } 256 257 static unsigned int phantom_poll(struct file *file, poll_table *wait) 258 { 259 struct phantom_device *dev = file->private_data; 260 unsigned int mask = 0; 261 262 pr_debug("phantom_poll: %d\n", atomic_read(&dev->counter)); 263 poll_wait(file, &dev->wait, wait); 264 265 if (!(dev->status & PHB_RUNNING)) 266 mask = POLLERR; 267 else if (atomic_read(&dev->counter)) 268 mask = POLLIN | POLLRDNORM; 269 270 pr_debug("phantom_poll end: %x/%d\n", mask, atomic_read(&dev->counter)); 271 272 return mask; 273 } 274 275 static const struct file_operations phantom_file_ops = { 276 .open = phantom_open, 277 .release = phantom_release, 278 .unlocked_ioctl = phantom_ioctl, 279 .compat_ioctl = phantom_compat_ioctl, 280 .poll = phantom_poll, 281 }; 282 283 static irqreturn_t phantom_isr(int irq, void *data) 284 { 285 struct phantom_device *dev = data; 286 unsigned int i; 287 u32 ctl; 288 289 spin_lock(&dev->regs_lock); 290 ctl = ioread32(dev->iaddr + PHN_CONTROL); 291 if (!(ctl & PHN_CTL_IRQ)) { 292 spin_unlock(&dev->regs_lock); 293 return IRQ_NONE; 294 } 295 296 iowrite32(0, dev->iaddr); 297 iowrite32(0xc0, dev->iaddr); 298 299 if (dev->status & PHB_NOT_OH) { 300 struct phm_regs *r = &dev->oregs; 301 u32 m = min(r->count, 8U); 302 303 for (i = 0; i < m; i++) 304 if (r->mask & BIT(i)) 305 iowrite32(r->values[i], dev->oaddr + i); 306 307 dev->ctl_reg ^= PHN_CTL_AMP; 308 iowrite32(dev->ctl_reg, dev->iaddr + PHN_CONTROL); 309 } 310 spin_unlock(&dev->regs_lock); 311 312 ioread32(dev->iaddr); /* PCI posting */ 313 314 atomic_inc(&dev->counter); 315 wake_up_interruptible(&dev->wait); 316 317 return IRQ_HANDLED; 318 } 319 320 /* 321 * Init and deinit driver 322 */ 323 324 static unsigned int __devinit phantom_get_free(void) 325 { 326 unsigned int i; 327 328 for (i = 0; i < PHANTOM_MAX_MINORS; i++) 329 if (phantom_devices[i] == 0) 330 break; 331 332 return i; 333 } 334 335 static int __devinit phantom_probe(struct pci_dev *pdev, 336 const struct pci_device_id *pci_id) 337 { 338 struct phantom_device *pht; 339 unsigned int minor; 340 int retval; 341 342 retval = pci_enable_device(pdev); 343 if (retval) 344 goto err; 345 346 minor = phantom_get_free(); 347 if (minor == PHANTOM_MAX_MINORS) { 348 dev_err(&pdev->dev, "too many devices found!\n"); 349 retval = -EIO; 350 goto err_dis; 351 } 352 353 phantom_devices[minor] = 1; 354 355 retval = pci_request_regions(pdev, "phantom"); 356 if (retval) 357 goto err_null; 358 359 retval = -ENOMEM; 360 pht = kzalloc(sizeof(*pht), GFP_KERNEL); 361 if (pht == NULL) { 362 dev_err(&pdev->dev, "unable to allocate device\n"); 363 goto err_reg; 364 } 365 366 pht->caddr = pci_iomap(pdev, 0, 0); 367 if (pht->caddr == NULL) { 368 dev_err(&pdev->dev, "can't remap conf space\n"); 369 goto err_fr; 370 } 371 pht->iaddr = pci_iomap(pdev, 2, 0); 372 if (pht->iaddr == NULL) { 373 dev_err(&pdev->dev, "can't remap input space\n"); 374 goto err_unmc; 375 } 376 pht->oaddr = pci_iomap(pdev, 3, 0); 377 if (pht->oaddr == NULL) { 378 dev_err(&pdev->dev, "can't remap output space\n"); 379 goto err_unmi; 380 } 381 382 mutex_init(&pht->open_lock); 383 spin_lock_init(&pht->regs_lock); 384 init_waitqueue_head(&pht->wait); 385 cdev_init(&pht->cdev, &phantom_file_ops); 386 pht->cdev.owner = THIS_MODULE; 387 388 iowrite32(0, pht->caddr + PHN_IRQCTL); 389 ioread32(pht->caddr + PHN_IRQCTL); /* PCI posting */ 390 retval = request_irq(pdev->irq, phantom_isr, 391 IRQF_SHARED | IRQF_DISABLED, "phantom", pht); 392 if (retval) { 393 dev_err(&pdev->dev, "can't establish ISR\n"); 394 goto err_unmo; 395 } 396 397 retval = cdev_add(&pht->cdev, MKDEV(phantom_major, minor), 1); 398 if (retval) { 399 dev_err(&pdev->dev, "chardev registration failed\n"); 400 goto err_irq; 401 } 402 403 if (IS_ERR(device_create(phantom_class, &pdev->dev, 404 MKDEV(phantom_major, minor), NULL, 405 "phantom%u", minor))) 406 dev_err(&pdev->dev, "can't create device\n"); 407 408 pci_set_drvdata(pdev, pht); 409 410 return 0; 411 err_irq: 412 free_irq(pdev->irq, pht); 413 err_unmo: 414 pci_iounmap(pdev, pht->oaddr); 415 err_unmi: 416 pci_iounmap(pdev, pht->iaddr); 417 err_unmc: 418 pci_iounmap(pdev, pht->caddr); 419 err_fr: 420 kfree(pht); 421 err_reg: 422 pci_release_regions(pdev); 423 err_null: 424 phantom_devices[minor] = 0; 425 err_dis: 426 pci_disable_device(pdev); 427 err: 428 return retval; 429 } 430 431 static void __devexit phantom_remove(struct pci_dev *pdev) 432 { 433 struct phantom_device *pht = pci_get_drvdata(pdev); 434 unsigned int minor = MINOR(pht->cdev.dev); 435 436 device_destroy(phantom_class, MKDEV(phantom_major, minor)); 437 438 cdev_del(&pht->cdev); 439 440 iowrite32(0, pht->caddr + PHN_IRQCTL); 441 ioread32(pht->caddr + PHN_IRQCTL); /* PCI posting */ 442 free_irq(pdev->irq, pht); 443 444 pci_iounmap(pdev, pht->oaddr); 445 pci_iounmap(pdev, pht->iaddr); 446 pci_iounmap(pdev, pht->caddr); 447 448 kfree(pht); 449 450 pci_release_regions(pdev); 451 452 phantom_devices[minor] = 0; 453 454 pci_disable_device(pdev); 455 } 456 457 #ifdef CONFIG_PM 458 static int phantom_suspend(struct pci_dev *pdev, pm_message_t state) 459 { 460 struct phantom_device *dev = pci_get_drvdata(pdev); 461 462 iowrite32(0, dev->caddr + PHN_IRQCTL); 463 ioread32(dev->caddr + PHN_IRQCTL); /* PCI posting */ 464 465 synchronize_irq(pdev->irq); 466 467 return 0; 468 } 469 470 static int phantom_resume(struct pci_dev *pdev) 471 { 472 struct phantom_device *dev = pci_get_drvdata(pdev); 473 474 iowrite32(0, dev->caddr + PHN_IRQCTL); 475 476 return 0; 477 } 478 #else 479 #define phantom_suspend NULL 480 #define phantom_resume NULL 481 #endif 482 483 static struct pci_device_id phantom_pci_tbl[] __devinitdata = { 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 struct pci_driver phantom_pci_driver = { 492 .name = "phantom", 493 .id_table = phantom_pci_tbl, 494 .probe = phantom_probe, 495 .remove = __devexit_p(phantom_remove), 496 .suspend = phantom_suspend, 497 .resume = phantom_resume 498 }; 499 500 static ssize_t phantom_show_version(struct class *cls, char *buf) 501 { 502 return sprintf(buf, PHANTOM_VERSION "\n"); 503 } 504 505 static CLASS_ATTR(version, 0444, phantom_show_version, NULL); 506 507 static int __init phantom_init(void) 508 { 509 int retval; 510 dev_t dev; 511 512 phantom_class = class_create(THIS_MODULE, "phantom"); 513 if (IS_ERR(phantom_class)) { 514 retval = PTR_ERR(phantom_class); 515 printk(KERN_ERR "phantom: can't register phantom class\n"); 516 goto err; 517 } 518 retval = class_create_file(phantom_class, &class_attr_version); 519 if (retval) { 520 printk(KERN_ERR "phantom: can't create sysfs version file\n"); 521 goto err_class; 522 } 523 524 retval = alloc_chrdev_region(&dev, 0, PHANTOM_MAX_MINORS, "phantom"); 525 if (retval) { 526 printk(KERN_ERR "phantom: can't register character device\n"); 527 goto err_attr; 528 } 529 phantom_major = MAJOR(dev); 530 531 retval = pci_register_driver(&phantom_pci_driver); 532 if (retval) { 533 printk(KERN_ERR "phantom: can't register pci driver\n"); 534 goto err_unchr; 535 } 536 537 printk(KERN_INFO "Phantom Linux Driver, version " PHANTOM_VERSION ", " 538 "init OK\n"); 539 540 return 0; 541 err_unchr: 542 unregister_chrdev_region(dev, PHANTOM_MAX_MINORS); 543 err_attr: 544 class_remove_file(phantom_class, &class_attr_version); 545 err_class: 546 class_destroy(phantom_class); 547 err: 548 return retval; 549 } 550 551 static void __exit phantom_exit(void) 552 { 553 pci_unregister_driver(&phantom_pci_driver); 554 555 unregister_chrdev_region(MKDEV(phantom_major, 0), PHANTOM_MAX_MINORS); 556 557 class_remove_file(phantom_class, &class_attr_version); 558 class_destroy(phantom_class); 559 560 pr_debug("phantom: module successfully removed\n"); 561 } 562 563 module_init(phantom_init); 564 module_exit(phantom_exit); 565 566 MODULE_AUTHOR("Jiri Slaby <jirislaby@gmail.com>"); 567 MODULE_DESCRIPTION("Sensable Phantom driver (PCI devices)"); 568 MODULE_LICENSE("GPL"); 569 MODULE_VERSION(PHANTOM_VERSION); 570